lineComplex.c

/*******************************************************************************
* examples/lineComplex.c                                                       *
* ======================                                                       *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 07.11.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testLine(void);
int main(void);
 
//*********************************[testLine]***********************************
void testLine(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
 
    uint8_t value;
    uint8_t adc_min;
    uint8_t adc_max;
 
    lcdclr();
    lcdstr_p(PSTR("Line -"          ));
 
    line_set(kLineSetEnable, kLineEnableAll);
    line_request(kLineSelectAll, kRequestContinuous);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(7,0);
            switch (menu_pos) {
                case  0:
                    lcdstr_p(PSTR(       "digital"  ));
                    lcdxy(0,1); lcdstr_p(PSTR("F:### M:##  T:###"));
 
                    line_request(kLineSelectEnable, kRequestSingle);
                    break;
 
                case  1:
                    lcdstr_p(PSTR(       "front  "  ));
                    lcdxy(0,1); lcdstr_p(PSTR("###   ###    ###"));
                    break;
 
                default:
                    lcdstr_p(PSTR(       "middle "  ));
                    lcdxy(0,1); lcdstr_p(PSTR("###          ###"));
                    menu_pos = 2;
                    break;
            }
            mdelay(400);
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> increase menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            menu_pos++;
            if (menu_pos > 2) {menu_pos = 0;}
            flag_redraw_menu = 0xFF;
        } else {
            if (buttons_get(kButtonRight)) {
                // right button --> calculate new threshold value
                leds_set(kLedRight , kLedOn );
                mdelay(100);
                leds_set(kLedRight , kLedOff);
 
                adc_min = 255;
                adc_max =   0;
 
                value = line_get(kLineGetFrontLeft  );
                if (value < adc_min) {adc_min = value;}
                if (value > adc_max) {adc_max = value;}
 
                value = line_get(kLineGetFrontMiddle);
                if (value < adc_min) {adc_min = value;}
                if (value > adc_max) {adc_max = value;}
 
                value = line_get(kLineGetFrontRight );
                if (value < adc_min) {adc_min = value;}
                if (value > adc_max) {adc_max = value;}
 
                value = line_get(kLineGetMiddleLeft );
                if (value < adc_min) {adc_min = value;}
                if (value > adc_max) {adc_max = value;}
 
                value = line_get(kLineGetMiddleRight);
                if (value < adc_min) {adc_min = value;}
                if (value > adc_max) {adc_max = value;}
 
                // mean value
                value = (adc_min >> 1) + (adc_max >> 1);
 
                line_set(kLineSetThreshold, value);
                line_request(kLineSelectEnable,kRequestSingle);
            }
 
            // update display depending on menu position
            switch (menu_pos) {
                case 0 :
                    if (line_received(kLineSelectEnable)) {
                        lcdxy(13,1);
                        uint16tostr(lcdout,line_get(kLineGetThreshold),3);
                    }
 
                    if (line_changed(kLineSelectDigital)) {
                        value = line_get(kLineGetDigital);
 
                        lcdxy(2,1);
                        if (value & kLineDigitalFrontLeft  ) {lcdout('L'); }
                          else {lcdout(' ');}
 
                        if (value & kLineDigitalFrontMiddle) {lcdout('M'); }
                          else {lcdout(' ');}
 
                        if (value & kLineDigitalFrontRight ) {lcdout('R'); }
                          else {lcdout(' ');}
 
                        lcdxy(8,1);
                        if (value & kLineDigitalMiddleLeft ) {lcdout('L'); }
                          else {lcdout(' ');}
 
                        if (value & kLineDigitalMiddleRight) {lcdout('R'); }
                          else {lcdout(' ');}
 
                        mdelay(250);
                    }
                    break;
 
                case 1 :
                    if (line_changed(kLineSelectFront)) {
                        lcdxy( 0,1);
                        uint16tostr(lcdout,line_get(kLineGetFrontLeft  ),3);
 
                        lcdxy( 6,1);
                        uint16tostr(lcdout,line_get(kLineGetFrontMiddle),3);
 
                        lcdxy(13,1);
                        uint16tostr(lcdout,line_get(kLineGetFrontRight ),3);
 
                        mdelay(250);
                    }
                    break;
 
                default:
                    if (line_changed(kLineSelectMiddle)) {
                        lcdxy( 0,1);
                        uint16tostr(lcdout,line_get(kLineGetMiddleLeft ),3);
 
                        lcdxy(13,1);
                        uint16tostr(lcdout,line_get(kLineGetMiddleRight),3);
 
                        mdelay(250);
                    }
 
                    break;
            }
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testLine();
 
    return (0);
}