root / branches / analog / code / projects / diagnostic_station / station / main.c @ 1390
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| 1 | 1151 | deffi | #include <dragonfly_lib.h> |
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| 2 | 1159 | deffi | #include <wireless.h> |
| 3 | #include <xbee.h> |
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| 4 | 1151 | deffi | |
| 5 | 1159 | deffi | #include "../common/comm_station_robot.h" |
| 6 | |||
| 7 | 1151 | deffi | #include "global.h" |
| 8 | 1182 | deffi | #include "hardware.h" |
| 9 | 1169 | deffi | #include "tests.h" |
| 10 | 1182 | deffi | #include "self_test.h" |
| 11 | #include "comm_server.h" |
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| 12 | 1198 | deffi | #include "comm_robot.h" |
| 13 | 1242 | deffi | #include "comm_interactive.h" |
| 14 | 1151 | deffi | |
| 15 | 1242 | deffi | int main_default (void) |
| 16 | 1151 | deffi | {
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| 17 | 1242 | deffi | dragonfly_init(0);
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| 18 | |||
| 19 | // Initialize before using USB
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| 20 | comm_server_init (); |
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| 21 | |||
| 22 | usb_puts(NL NL NL); |
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| 23 | usb_puts("# Diagnostic station version " version_string " starting" NL); |
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| 24 | |||
| 25 | orb_init_pwm (); |
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| 26 | hardware_init (); |
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| 27 | |||
| 28 | orb1_set (255, 0, 0); usb_puts("# Initializing wireless" NL); |
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| 29 | comm_robot_init (); |
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| 30 | orb2_set (255, 0, 0); usb_puts("# Done" NL); |
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| 31 | |||
| 32 | // If button 1 is pressed after initialization of the wireless (which takes about 1s), run all tests.
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| 33 | if (button1_read ())
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| 34 | 1272 | deffi | test_all (); |
| 35 | 1242 | deffi | |
| 36 | // If button 2 is pressed, go to interactive mode (green/green). If not, go to server mode (green/yellow).
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| 37 | if (button2_read ())
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| 38 | interactive_main (); |
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| 39 | else
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| 40 | server_main (); |
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| 41 | 1151 | deffi | |
| 42 | 1242 | deffi | while (1); |
| 43 | return 0; |
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| 44 | 1151 | deffi | } |
| 45 | |||
| 46 | 1187 | deffi | int main_martin (void) |
| 47 | 1151 | deffi | {
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| 48 | 1187 | deffi | dragonfly_init (0);
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| 49 | orb_init (); |
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| 50 | 1218 | deffi | |
| 51 | 1226 | deffi | if (!button2_read ())
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| 52 | {
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| 53 | // Initialize before using USB
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| 54 | 1272 | deffi | // Do something else
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| 55 | 1218 | deffi | } |
| 56 | 1226 | deffi | else
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| 57 | 1218 | deffi | {
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| 58 | 1226 | deffi | delay_ms (1000);
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| 59 | main_default (); |
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| 60 | 1218 | deffi | } |
| 61 | |||
| 62 | 1198 | deffi | while (1); |
| 63 | return 0; |
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| 64 | 1187 | deffi | } |
| 65 | |||
| 66 | int main_john (void) |
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| 67 | {
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| 68 | 1280 | jsexton | dragonfly_init(0);
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| 69 | 1189 | jsexton | |
| 70 | 1280 | jsexton | // Initialize before using USB
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| 71 | comm_server_init (); |
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| 72 | 1189 | jsexton | |
| 73 | 1280 | jsexton | usb_puts(NL NL NL); |
| 74 | usb_puts("# Diagnostic station version " version_string " starting" NL); |
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| 75 | 1189 | jsexton | |
| 76 | 1280 | jsexton | orb_init_pwm (); |
| 77 | hardware_init (); |
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| 78 | |||
| 79 | orb1_set (255, 0, 0); usb_puts("# Initializing wireless" NL); |
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| 80 | comm_robot_init (); |
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| 81 | orb2_set (255, 0, 0); usb_puts("# Done" NL); |
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| 82 | |||
| 83 | 1286 | jsexton | while (1) { |
| 84 | 1280 | jsexton | |
| 85 | 1286 | jsexton | ibom_set(true);
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| 86 | delay_ms(500);
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| 87 | ibom_set(false);
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| 88 | delay_ms(500);
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| 89 | } |
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| 90 | 1198 | deffi | return 0; |
| 91 | 1187 | deffi | } |
| 92 | |||
| 93 | 1192 | emullini | |
| 94 | int main_evan (void) |
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| 95 | {
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| 96 | dragonfly_init(0);
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| 97 | |||
| 98 | usb_init (); |
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| 99 | |||
| 100 | usb_puts(NL NL NL); |
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| 101 | usb_puts("# Diagnostic station version " version_string " starting" NL); |
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| 102 | |||
| 103 | orb_init_pwm (); |
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| 104 | 1208 | deffi | |
| 105 | 1192 | emullini | hardware_init (); |
| 106 | comm_server_init (); |
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| 107 | 1198 | deffi | comm_robot_init (); |
| 108 | 1192 | emullini | |
| 109 | orb1_set (255, 0, 0); usb_puts("# Initializing wireless" NL); |
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| 110 | xbee_init (); |
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| 111 | wl_init(); |
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| 112 | orb2_set (255, 0, 0); usb_puts("# Done" NL); |
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| 113 | |||
| 114 | |||
| 115 | // If button 1 is pressed after initialization of the wireless (which takes about 1s), run all tests.
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| 116 | if (button1_read ())
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| 117 | test_all (); |
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| 118 | |||
| 119 | // If button 2 is pressed, go to interactive mode (green/green). If not, go to server mode (green/yellow).
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| 120 | if (button2_read ())
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| 121 | interactive_main (); |
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| 122 | else
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| 123 | {
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| 124 | // Set the orbs to green/yellow
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| 125 | orbs_set (0,255,0, 255,127,0); |
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| 126 | |||
| 127 | server_main (); |
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| 128 | } |
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| 129 | |||
| 130 | while (1); |
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| 131 | 1198 | deffi | return 0; |
| 132 | 1192 | emullini | } |
| 133 | 1281 | kwoo | |
| 134 | int main_kwoo (void) |
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| 135 | {
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| 136 | dragonfly_init(0);
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| 137 | orb_init_pwm(); |
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| 138 | |||
| 139 | usb_init (); |
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| 140 | |||
| 141 | usb_puts(NL NL NL); |
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| 142 | usb_puts("# Diagnostic station version " version_string " starting" NL); |
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| 143 | |||
| 144 | wall_init(); |
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| 145 | 1285 | kwoo | |
| 146 | wall_set_position(1);
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| 147 | wall_set_position(2);
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| 148 | wall_set_position(3);
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| 149 | wall_set_position(4);
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| 150 | wall_set_position(5);
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| 151 | |||
| 152 | 1281 | kwoo | while (1) { |
| 153 | 1285 | kwoo | //usb_puti(wall_get_position());
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| 154 | //usb_puts("\r\n");
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| 155 | 1281 | kwoo | if (PINF & _BV(PINF0)) {
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| 156 | orbs_set(0,0,255,0,0,0); |
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| 157 | } |
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| 158 | |||
| 159 | } |
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| 160 | |||
| 161 | return 0; |
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| 162 | } |
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| 163 | 1311 | bneuman | |
| 164 | int main_brad(void) |
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| 165 | {
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| 166 | dragonfly_init (ALL_ON); |
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| 167 | |||
| 168 | if (!button2_read ()) {
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| 169 | |||
| 170 | usb_puts("running Brad's tests" NL);
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| 171 | |||
| 172 | turntable_init(); |
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| 173 | turntable_rotate_to_position(0);
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| 174 | delay_ms(1000);
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| 175 | usb_puts("actually got to:");
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| 176 | usb_puti(turntable_get_position()); |
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| 177 | usb_puts(NL); |
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| 178 | turntable_rotate_to_position(512);
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| 179 | delay_ms(1000);
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| 180 | usb_puts("actually got to:");
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| 181 | usb_puti(turntable_get_position()); |
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| 182 | usb_puts(NL); |
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| 183 | |||
| 184 | |||
| 185 | } |
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| 186 | else {
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| 187 | |||
| 188 | //could put a call to default_main here
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| 189 | turntable_init(); |
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| 190 | interactive_main(); |
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| 191 | |||
| 192 | |||
| 193 | } |
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| 194 | |||
| 195 | while (1); |
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| 196 | return 0; |
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| 197 | } |