Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include <wl_defs.h>

#include "../../../common/colonet_defs.h"

#include <serial.h>

#include <stdio.h>

/* Current state codes */

#define TRIGGER_DOWN              1

#define TRIGGER_UP               (1<<1)

#define BUTTON_DOWN              (1<<2)

#define BUTTON_UP                (1<<3)

#define X_LEFT                   (1<<4)

#define X_CENTER                 (1<<5)

#define X_RIGHT                  (1<<6)

#define Y_UP                     (1<<7)

#define Y_CENTER                 (1<<8)

#define Y_DOWN                   (1<<9)

/* State change codes */

#define TRIGGER_PRESSED           1

#define TRIGGER_RELEASED          (1<<1)

#define BUTTON_PRESSED            (1<<2)

#define BUTTON_RELEASED           (1<<3)

#define MOVED_LEFT                (1<<4)

#define MOVED_X_CENTER            (1<<5)

#define MOVED_RIGHT               (1<<6)

#define MOVED_UP                  (1<<7)

#define MOVED_Y_CENTER            (1<<8)

#define MOVED_DOWN                (1<<9)

int joystick_status (void);

int joystick_change (int old, int new);

int main (void) {

  dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);

        ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);

        xbee_init();

  orb_set_color(BLUE);

  int change;

  int last_status = 0; 

  int cur_status = 0;

  while (1) {

    last_status = cur_status;

    cur_status = joystick_status();

    change = joystick_change(last_status, cur_status);

    char buf[100];

    sprintf(buf, "status: %d\n", cur_status);

    usb_puts(buf);

    if (change & MOVED_UP) {

      orb_set_color(GREEN);

      xbee_putc('f');

    }

    if (change & MOVED_Y_CENTER) {

      orb_set_color(RED);

      xbee_putc('s');

    }

    if (change & MOVED_DOWN) {

      orb_set_color(BLUE);

      xbee_putc('b');

    }

    if (change & MOVED_LEFT) {

      orb_set_color(ORANGE);

      xbee_putc('l');

    }

    if (change & MOVED_X_CENTER) {

      orb_set_color(RED);

      xbee_putc('s');

    }

    if (change & MOVED_RIGHT) {

      orb_set_color(YELLOW);

      xbee_putc('r');

    }

    if (change & TRIGGER_PRESSED) {

      orb_set_color(PURPLE);

      xbee_putc('t');

    }

    if (change & BUTTON_PRESSED) {

      orb_set_color(YELLOW);

      xbee_putc('u');

    }

    delay_ms(100);

  }

}

int joystick_change (int old, int new) {

  int trigger_change = 0;

  int button_change = 0;

  int x_change = 0;

  int y_change = 0;

  /* Check for trigger change */

  if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))

    trigger_change = TRIGGER_RELEASED;

  if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN)) 

    trigger_change = TRIGGER_PRESSED;

  /* Check for button change */

  if ((old & BUTTON_DOWN) && (new & BUTTON_UP))

    button_change = BUTTON_RELEASED;

  if ((old & BUTTON_UP) && (new & BUTTON_DOWN))

    button_change = BUTTON_PRESSED;

  /* Check for X change */

  if ((old & X_CENTER) && (new & X_RIGHT))

    x_change = MOVED_RIGHT;

  if ((old & X_CENTER) && (new & X_LEFT))

    x_change = MOVED_LEFT;

  if (!(old & X_CENTER) && (new & X_CENTER))

    x_change = MOVED_X_CENTER;

  /* Check for Y change */

  if ((old & Y_CENTER) && (new & Y_UP))

    y_change = MOVED_UP;

  if ((old & Y_CENTER) && (new & Y_DOWN))

    y_change = MOVED_DOWN;

  if (!(old & Y_CENTER) && (new & Y_CENTER))

    y_change = MOVED_Y_CENTER;

  return trigger_change | button_change | x_change | y_change;

}

/**

 * Get the current status of the joystick.

 * This includes the X and Y axes and the buttons.

 */

int joystick_status (void) {

        int trigger_status = 0;

        int button_status = 0;

        int x_status = 0; 

        int y_status = 0;

        int xval, yval;

  if (analog_get8(AN0) > 200)

    trigger_status = TRIGGER_DOWN;

  else

    trigger_status = TRIGGER_UP;

  if (analog_get8(AN1) > 200)

    button_status = BUTTON_DOWN;

  else

    button_status = BUTTON_UP;

  xval = analog_get8(AN4); // actually AN6, AN7 for connection

  yval = analog_get8(AN5);

  if (xval > 150)

    x_status = X_LEFT;

  else if (xval < 75)

    x_status = X_RIGHT;

  else

    x_status = X_CENTER;

  if (yval > 150)

    y_status = Y_UP;

  else if (yval < 75)

    y_status = Y_DOWN;

  else

    y_status = Y_CENTER;

  return trigger_status | button_status | x_status | y_status;

}