root / branches / library_refactor / behaviors / library_test / main.c @ 1138
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#include <dragonfly_lib.h> |
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//#include "smart_run_around_fsm.h"
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// Martin "deffi" Herrmann Test
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static void oset(uint8_t r,uint8_t g,uint8_t b) |
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{ |
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orbs_set(r,g,b,255-r,255-g,255-b); |
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} |
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static void color_circle (void) |
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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: oset (on, up, of); break; |
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case 1: oset (dn, on, of); break; |
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case 2: oset (of, on, up); break; |
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case 3: oset (of, dn, on); break; |
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case 4: oset (up, of, on); break; |
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case 5: oset (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: oset (dn, up, of); break; |
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case 1: oset (of, dn, up); break; |
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case 2: oset (up, of, dn); break; |
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} |
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} |
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delay_ms (2);
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} |
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} |
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} |
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} |
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static void acl(void) |
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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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wht; delay_ms (flash); |
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def; delay_ms (pause-flash); |
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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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int main(void) { |
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// dragonfly_init(ALL_ON);
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dragonfly_init(0);
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usb_init (); |
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usb_puts ("Startup\r\n");
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//encoders_init ();
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//analog_init(ADC_START);
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//analog_init(0);
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//range_init();
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//DDRF=2;
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//motors_init ();
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//motor2_set (FORWARD, 64);
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//orb_init_binary ();
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orb_init_pwm (); |
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if (false) |
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{ |
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orbs_set (255, 0, 0, 0, 0, 0); delay_ms (500); |
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orbs_set (0, 255, 0, 0, 0, 0); delay_ms (500); |
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orbs_set (0, 0, 255, 0, 0, 0); delay_ms (500); |
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orbs_set (0, 0, 0, 255, 0, 0); delay_ms (500); |
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orbs_set (0, 0, 0, 0, 255, 0); delay_ms (500); |
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orbs_set (0, 0, 0, 0, 0, 255); delay_ms (500); |
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} |
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if (false) |
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{ |
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orb_set (1,1,1); |
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while (1) |
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{ |
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SYNC |
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{ |
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for (uint8_t m=0; m<100; ++m) |
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{ |
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_delay_us(10);
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} |
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} |
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} |
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} |
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if (true) |
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{ |
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while (1) |
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{ |
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for (uint8_t x=0; x<255; ++x) |
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{ |
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orbs_set (x, 1, 2, 3, 4, 5); |
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for (uint8_t n=0; n<80; ++n) |
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{ |
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SYNC |
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{ for (uint8_t m=0; m<1; ++m) _delay_us(50); } |
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} |
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} |
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for (uint8_t x=255; x>0; --x) |
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{ |
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orbs_set (x, 1, 1, 1, 1, 1); |
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delay_ms (4);
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} |
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} |
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} |
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if (true) |
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{ |
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if (!button2_read ())
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{ |
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orb_set_mode (orb_mode_pwm); |
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orb_disable_timer (); |
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while (1) |
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{ |
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// Continuously call the sorting routine for timing test
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for (uint8_t i=0; i<200; ++i) |
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{ |
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orbs_set (10,20,30,40,50,60); |
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delay_ms (10);
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} |
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for (uint8_t i=0; i<200; ++i) |
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{ |
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orbs_set (60,50,40,30,20,10); |
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delay_ms (10);
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} |
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} |
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} |
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else
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{ |
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while (button2_read ());
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if (button1_read ())
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{ |
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color_circle (); |
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} |
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else
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{ |
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acl (); |
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} |
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} |
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} |
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// Do some lighting
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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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} |