root / trunk / code / behaviors / smart_run_around_fsm / main.c @ 1099
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#include <dragonfly_lib.h> |
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//#include "smart_run_around_fsm.h"
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#include "drive.h" |
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// Martin "deffi" Herrmann Test
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uint8_t motors_on=0;
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static void periodic_call () |
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{
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if (button1_read ())
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{
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motors_on=~motors_on; |
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} |
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if (motors_on)
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{
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int s=(wheel ()/2+127)&0xFF; |
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motor1_set (FORWARD, s); |
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motor2_set (FORWARD, s); |
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} |
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else
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motors_off (); |
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while (button1_read ()); // Wait for button release *after* setting new motor state |
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} |
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static void spirograph () |
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{
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uint8_t left=255;
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uint8_t right_min=160;
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uint8_t right_max=200;
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uint8_t delay=100;
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uint8_t step=2;
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uint8_t dir=step, right=right_min; |
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orb_set (0,255,0); |
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while (1) |
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{
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if (right<right_min) dir=step;
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if (right>right_max) dir=-step;
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right+=dir; |
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motor1_set (FORWARD, left); |
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motor2_set (FORWARD, right); |
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delay_ms (delay); |
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} |
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} |
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static void color_circle () |
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{
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while(1) |
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{
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for (uint8_t part=0; part<6; ++part) |
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{
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for (uint8_t up=0; up<255; ++up) |
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{
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uint8_t dn=255-up;
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uint8_t on=255;
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uint8_t of=0;
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if (1) |
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{
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// Maximum brightness mode
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switch (part)
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{
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case 0: orb_set (on, up, of); break; |
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case 1: orb_set (dn, on, of); break; |
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case 2: orb_set (of, on, up); break; |
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case 3: orb_set (of, dn, on); break; |
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case 4: orb_set (up, of, on); break; |
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case 5: orb_set (on, of, dn); break; |
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} |
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} |
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else
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{
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// Constant brightness mode (not very constant though)
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switch (part%3) |
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{
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case 0: orb_set (dn, up, of); break; |
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case 1: orb_set (of, dn, up); break; |
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case 2: orb_set (up, of, dn); break; |
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} |
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} |
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delay_ms (2);
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periodic_call (); |
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} |
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} |
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} |
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} |
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static void startup_sequence() |
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{
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orb_set (255, 0, 0); delay_ms (200); |
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orb_set (0, 0, 0); delay_ms (200); |
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orb_set (255, 0, 0); delay_ms (200); |
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orb_set (0, 0, 0); delay_ms (200); |
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orb_set (255, 0, 0); delay_ms (200); |
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orb_set (0, 0, 0); delay_ms (500); |
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} |
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static void right_controller() |
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{
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encoders_init (); |
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encoder_rst_dx (0); encoder_rst_dx (1); |
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while (1) |
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{
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int el=encoder_get_dx (0); |
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int er=encoder_get_dx (1); |
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int diff=el-er;
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uint8_t direction=(diff>0)?FORWARD:BACKWARD;
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if (diff>2) |
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diff+=180;
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else if (diff<-2) |
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diff-=180;
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else
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diff=0;
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if (diff>255) diff=255; |
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if (diff<-255) diff=-255; |
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motor2_set(direction, abs (diff)); |
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usb_puti (el); usb_puts (" ");
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usb_puti (er); usb_puts (" ");
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usb_puti (diff); usb_puts (" ");
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usb_puts (" \r");
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} |
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} |
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static void acl() |
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{
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#define redval 255 |
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#define greenval 150 |
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#define interval 1300 |
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#define flash 20 |
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#define pause 200 |
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#define def do { orb1_set(redval,0,0); orb2_set(0,greenval,0); } while (0) |
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#define wht do { orb_set(255,255,255); } while (0) |
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while (1) |
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{
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periodic_call (); |
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wht; delay_ms (flash); |
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def; delay_ms (pause-flash); |
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periodic_call (); |
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wht; delay_ms (flash); |
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def; delay_ms (pause-flash); |
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def; delay_ms (interval-2*pause-2*flash); |
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} |
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} |
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static void redlight () |
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{
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uint8_t r=255;
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int8_t d=-1;
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while (1) |
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{
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if (r==0) d=1; |
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if (r==255) d=-1; |
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r+=d; |
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orb_set(r,0,0); |
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delay_ms (5);
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} |
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} |
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static uint8_t hex_digit(uint8_t x)
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{
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if (x>15) return '?'; |
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return "0123456789ABCDEF"[x]; |
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} |
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static void usb_puth(int i) |
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{
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usb_putc(hex_digit((i>>12)&0xF)); |
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usb_putc(hex_digit((i>>8)&0xF)); |
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usb_putc(hex_digit((i>>4)&0xF)); |
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usb_putc(hex_digit(i&0xF));
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} |
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static void usb_puth8(uint8_t i) |
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{
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usb_putc(hex_digit((i>>4)&0xF)); |
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usb_putc(hex_digit(i&0xF));
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} |
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static void bom_beacon () |
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{
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//bom_init (BOM15); // Done by dragonfly init
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//bom_set_leds(1<<4);
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//bom_set_leds(0xAAAA);
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bom_set_leds(0xFFFF);
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bom_on (); |
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redlight (); |
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} |
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static int get_color(int x) |
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{
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switch (x)
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{
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case 0: return RED; |
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case 1: return YELLOW; |
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case 2: return GREEN; |
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case 3: return CYAN; |
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case 4: return BLUE; |
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case 5: return MAGENTA; |
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default: return WHITE; |
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} |
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} |
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static void set_color_code(int x) |
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{
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if (0<=x && x<6) |
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{
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orb1_set_color (get_color (x)); |
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orb2_set_color (ORB_OFF); |
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} |
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else if (6<=x && x<12) |
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{
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orb1_set_color (ORB_OFF); |
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orb2_set_color (get_color (x-6));
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} |
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else if (12<=x && x<18) |
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{
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orb1_set_color (get_color (x-12));
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orb2_set_color (get_color (x-12));
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} |
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else
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{
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orb1_set_color (ORB_OFF); |
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orb2_set_color (ORB_OFF); |
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} |
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} |
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static void bom_test() |
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{
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analog_init (0/*ADC_START*/); |
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//bom_init (BOM15); // Done by dragonfly init
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bom_off (); |
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uint8_t num=0;
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#define selected 9 |
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while (1) |
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{
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// Each 100 ms, print all values, hex, on one line
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if (0) |
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{
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bom_refresh(BOM_ALL); |
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for (uint8_t i=0; i<16; ++i) |
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{
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usb_puti (i); |
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usb_putc (':');
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usb_puth8 ((uint8_t)(bom_get(i))); |
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usb_putc (' ');
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} |
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usb_puts ("\r\n");
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delay_ms (100);
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} |
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if (0) |
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{
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// Average 10 #selected values over 1 second, print dec, one per line
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uint16_t val=0;
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for (int i=0; i<10; ++i) |
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{
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bom_refresh (1<<selected);
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val+=bom_get(selected); |
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delay_ms (100);
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} |
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usb_puti(val); |
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usb_puts("\r\n");
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} |
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// Read #selected, print dec//, 16 values per line.
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if (0) |
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{
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bom_refresh (1<<selected);
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usb_puti (selected); |
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usb_puts (": ");
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usb_puti (bom_get (selected)); |
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// num++;
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// if (num>15)
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// {
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usb_puts ("\r\n");
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// num=0;
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// }
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// else
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// usb_putc (' ');
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delay_ms (100);
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} |
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// Print maximum of all, one per line
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if (1) |
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{
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bom_refresh (0xFFFF);
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usb_puti (bom_get_max ()); |
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set_color_code(bom_get_max ()); |
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usb_puts ("\r\n");
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delay_ms (100);
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} |
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} |
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} |
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void rtc_callback ()
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{
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static uint8_t x=0; |
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motor1_set(x?FORWARD:BACKWARD, 180);
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motor2_set(x?BACKWARD:FORWARD, 180);
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x=!x; |
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} |
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static void rtc_test () |
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{
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rtc_init (HALF_SECOND, rtc_callback); |
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while (1); |
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} |
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void drive_controller_test ()
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{
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// Drive straight ahead
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drive_controller dc; |
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drive_controller_set_parameters_shift (&dc, 0, -16); |
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drive_controller_init (&dc); |
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while (1) |
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{
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// Use the wheel for velocity control
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drive_controller_set_target_velocity (&dc, wheel ()/2+127); |
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// Do the control
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drive_controller_control (&dc); |
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delay_ms (1);
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} |
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} |
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void encoder_timing_test ()
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{
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//bom_init(BOM15);
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//bom_set_leds(0xAAAA);
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//bom_on ();
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DDRF |= 1<<1; |
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//encoders_init ();
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while (1) |
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{
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PORTF|=0x02;
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PORTF&=0xFD;
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PORTF|=0x02;
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PORTF&=0xFD;
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PORTF|=0x02;
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PORTF&=0xFD;
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PORTF|=0x02;
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PORTF&=0xFD;
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PORTF|=0x02;
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PORTF&=0xFD;
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PORTF|=0x02;
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PORTF&=0xFD;
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//bom_set_leds(0x0001);
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//bom_set_leds(0x0003);
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} |
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} |
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static void duty_cycle_test () |
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{
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DDRF=0xFF;
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while (1) |
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{
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if (button1_read ())
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{
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// Button 1 => 1/20 (5%)
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PORTF=0x02; delay_ms (1); |
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PORTF=0x00; delay_ms (19); |
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} |
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else if (button2_read ()) |
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{
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// Button 2 => 3/20 (15%)
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PORTF=0x02; delay_ms (3); |
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PORTF=0x00; delay_ms (17); |
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} |
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else
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{
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// No button (or both) => Alternating, avg 2/20 (10%)
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PORTF=0x02; delay_ms (1); |
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PORTF=0x00; delay_ms (19); |
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PORTF=0x02; delay_ms (3); |
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PORTF=0x00; delay_ms (17); |
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} |
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} |
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} |
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int main(void) { |
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// dragonfly_init(ALL_ON);
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dragonfly_init(0);
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//encoders_init ();
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analog_init(0);
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// usb_init();
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// encoder_timing_test ();
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DDRF=0x02;
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if (button2_read ())
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duty_cycle_test (); |
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else
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{
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orb_init (); |
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orb_enable (); |
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color_circle (); |
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} |
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orb_init (); |
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orb_enable (); |
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// while (1)
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// {
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//
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// orb_set (128,128,0);
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// delay_ms (1000);
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//
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//
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// orb1_set (128,128,0);
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// orb2_set (128,128,0);
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// delay_ms (1000);
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// }
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// orb1_set (128,0,0);
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// orb2_set (255,0,0);
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// while (1);
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//analog_init(ADC_START);
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//range_init();
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usb_puts ("Startup\r\n");
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//bom_beacon ();
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//bom_test ();
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//rtc_test ();
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// Do some lighting and wheel controlled motors on BTN1
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if (!button2_read ())
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acl (); |
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else
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color_circle (); |
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startup_sequence (); |
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drive_controller_test (); |
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} |