remoteControl.c

/*******************************************************************************
* examples/remoteControl.c                                                     *
* ========================                                                     *
*                                                                              *
* Version: 1.0.7                                                               *
* Date   : 14.02.18                                                            *
* 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>
#include <tucbot_additionals/packedCom.h>
#include <tucbot_additionals/remoteControl.h>
 
//*********************************<Methods>************************************
void testRemoteControl(void);
int main(void);
 
//*********************************[testRemoteControl]**************************
void testRemoteControl(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
 
    uint8_t value_active = 0xFF;
    uint8_t value_count  = 0;
 
    uint8_t temp;
 
    lcdclr();
    lcdstr_p(PSTR("Remote ctrl  ###"));
 
    packedCom_activate();
    remoteControl_request(kRemoteControlSelectAll, kRequestContinuous);
    mode_set(kModeStudent);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(0,1);
            if (menu_pos == 0) {
                lcdstr_p(PSTR("l=####%, r=####%"));
            } else {
                lcdstr_p(PSTR("a=#####, v=#####"));
            }
            mdelay(400);
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> toggle menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (menu_pos == 0) {
                menu_pos = 1;
                motors_set(kMotorSetAll, 0);
                mdelay(100);
                mode_set(kModePupil  );
            } else {
                menu_pos = 0;
                #ifdef TUCBOT_PUPIL
                    drive_stop(kDriveStopNormal);
                #endif // #ifdef TUCBOT_PUPIL
                mdelay(100);
                mode_set(kModeStudent);
            }
            flag_redraw_menu = 0xFF;
        } else if (buttons_get(kButtonRight)) {
            // right button --> toggle packed communication (on/off)
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            lcdxy(11,0);
            if (value_active) {
                lcdout('#');
                value_active = 0x00;
 
                if (menu_pos == 1) {
                    #ifdef TUCBOT_PUPIL
                        drive_stop(kDriveStopNormal);
                    #endif // #ifdef TUCBOT_PUPIL
                }
                motors_set(kMotorSetAll, 0);
            } else {
                lcdout(' ');
                value_active = 0xFF;
            }
        }
 
        // update display (general)
        temp = packedCom_get(kPackedComGetPacketCount);
        if (temp != value_count) {
            value_count = temp;
            lcdxy(13,0); uint16tostr(lcdout,temp,3);
        }
 
        // update display depending on menu position
        if (menu_pos == 0) {
            if (remoteControl_changed(kRemoteControlSelectMotor)) {
                lcdxy( 2,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetMotorLeft ), 4);
                lcdxy(11,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetMotorRight), 4);
 
                if (value_active) {
                    cli();
                    motors_set(kMotorSetLeft ,
                      remoteControl_get(kRemoteControlGetMotorLeft ));
                    motors_set(kMotorSetRight,
                      remoteControl_get(kRemoteControlGetMotorRight));
                    sei();
                }
            }
 
        } else {
            if (remoteControl_changed(kRemoteControlSelectTwist)) {
                lcdxy( 2,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetTwistAngular), 5);
                lcdxy(11,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetTwistLinear ), 5);
 
                if (value_active) {
                    #ifdef TUCBOT_PUPIL
                        drive_adjust(
                          remoteControl_get(kRemoteControlGetTwistLinear ),
                          remoteControl_get(kRemoteControlGetTwistAngular));
                    #endif // #ifdef TUCBOT_PUPIL
                }
            }
        }
 
        mdelay(100);
 
        // signal user if robot is controlled by velocites, but is programmed
        // in student mode
        #ifndef TUCBOT_PUPIL
            if (value_active && menu_pos) {
                leds_set(kLedMiddle, !leds_get(kLedMiddle));
            }
        #endif // #ifdef TUCBOT_PUPIL
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testRemoteControl();
 
    return (0);
}