Revision 1272
Added "interactive" command in server mode
Moved hardware_init out of interactive_main
Made calling interactive_main/server_main more consistent
| main.c | ||
|---|---|---|
| 31 | 31 |
|
| 32 | 32 |
// If button 1 is pressed after initialization of the wireless (which takes about 1s), run all tests. |
| 33 | 33 |
if (button1_read ()) |
| 34 |
test_all ();
|
|
| 34 |
test_all (); |
|
| 35 | 35 |
|
| 36 | 36 |
// If button 2 is pressed, go to interactive mode (green/green). If not, go to server mode (green/yellow). |
| 37 | 37 |
if (button2_read ()) |
| 38 | 38 |
interactive_main (); |
| 39 | 39 |
else |
| 40 |
{
|
|
| 41 |
// Set the orbs to green/yellow |
|
| 42 |
orbs_set (0,255,0, 255,127,0); |
|
| 43 |
|
|
| 44 | 40 |
server_main (); |
| 45 |
} |
|
| 46 | 41 |
|
| 47 | 42 |
while (1); |
| 48 | 43 |
return 0; |
| ... | ... | |
| 56 | 51 |
if (!button2_read ()) |
| 57 | 52 |
{
|
| 58 | 53 |
// Initialize before using USB |
| 59 |
comm_server_init (); |
|
| 60 |
|
|
| 61 |
orb1_set (0, 0, 255); |
|
| 62 |
comm_robot_init (); |
|
| 63 |
orb2_set (0, 0, 255); |
|
| 64 |
|
|
| 65 |
int16_t left=69, right=105; |
|
| 66 |
|
|
| 67 |
while (0) |
|
| 68 |
{
|
|
| 69 |
robot_set_motors (motor_direction_backward, 250, motor_direction_forward, 250); |
|
| 70 |
delay_ms (200); |
|
| 71 |
} |
|
| 72 |
|
|
| 73 |
// Encoder test |
|
| 74 |
robot_reset_encoders (); |
|
| 75 |
while (1) |
|
| 76 |
{
|
|
| 77 |
bool result=robot_read_encoders (&left, &right); |
|
| 78 |
usb_puti (result); |
|
| 79 |
usb_puts (" ");
|
|
| 80 |
usb_puti (left); |
|
| 81 |
usb_puts (" ");
|
|
| 82 |
usb_puti (right); |
|
| 83 |
usb_puts (NL); |
|
| 84 |
|
|
| 85 |
delay_ms (200); |
|
| 86 |
} |
|
| 54 |
// Do something else |
|
| 87 | 55 |
} |
| 88 | 56 |
else |
| 89 | 57 |
{
|
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