root / branches / library_refactor / projects / colonet / server / manual_control / manualControlRobot / firefly+_lib.c @ 1390
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1 | 13 | emarinel | #include <firefly+_lib.h> |
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2 | #include <rangefinder.h> |
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3 | |||
4 | void button_test ( void); |
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5 | void motor_test (void); |
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6 | void serial_test( void ); |
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7 | void lcd_test(void); |
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8 | void orb_test( void ); |
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9 | void batt_test(void); |
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10 | void pullup_test(void); |
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11 | void ranger_test(void); |
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12 | |||
13 | /*
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14 | int main( void ) {
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15 | // orb_init();
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16 | //motors_init();
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17 | tlc5940test();
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18 | //ranger_test();
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19 | //pullup_test();
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20 | //serial_test();
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21 | //lcd_test();
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22 | |||
23 | orb_set_num(2, 255,0,0);
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24 | motor_test();
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25 | orb_set_num(3, 255,0,0);
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26 | return 0;
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27 | }*/
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28 | |||
29 | |||
30 | void ranger_test( void ) |
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31 | { |
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32 | lcd_init(); |
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33 | |||
34 | while(1) { |
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35 | lcd_clear_screen(); |
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36 | lcd_putint(linearize_distance(read_distance(PIN_C0))); |
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37 | delay_ms(100);
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38 | |||
39 | } |
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40 | |||
41 | } |
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42 | |||
43 | void button_test ( void) |
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44 | { |
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45 | |||
46 | lcd_init(); |
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47 | |||
48 | while(1) { |
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49 | |||
50 | |||
51 | if(button1_read())
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52 | lcd_putchar('1');
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53 | if(button2_read())
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54 | lcd_putchar('2');
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55 | |||
56 | delay_ms(100);
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57 | |||
58 | } |
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59 | |||
60 | |||
61 | |||
62 | } |
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63 | void motor_test (void) { |
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64 | |||
65 | motors_init(); |
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66 | //led_init();
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67 | |||
68 | motor1_set(1, 255); |
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69 | motor2_set(1, 255); |
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70 | |||
71 | delay_ms(10000);
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72 | |||
73 | motors_off(); |
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74 | led_user(1);
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75 | |||
76 | |||
77 | while(1); |
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78 | |||
79 | |||
80 | |||
81 | } |
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82 | void orb_test( void ) { |
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83 | int orbs[13] = { ORB_OFF, RED, ORANGE, YELLOW, LIME, GREEN, CYAN, BLUE, PURPLE, PINK, PURPLE, MAGENTA, WHITE }; |
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84 | int orb_select = 0; |
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85 | |||
86 | orb_init(); |
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87 | |||
88 | |||
89 | while(1) { |
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90 | orb_set_color(orbs[orb_select]); |
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91 | delay_ms(1000);
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92 | orb_select++; |
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93 | if(orb_select == 14) |
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94 | orb_select = 0;
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95 | } |
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96 | |||
97 | return;
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98 | |||
99 | } |
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100 | |||
101 | |||
102 | void lcd_test(void) { |
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103 | int i;
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104 | lcd_init(); |
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105 | |||
106 | for(i = 32; i <= 126; i++) { |
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107 | lcd_putchar(i); |
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108 | delay_ms(250);
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109 | } |
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110 | |||
111 | |||
112 | return;
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113 | |||
114 | } |
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115 | |||
116 | /*
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117 | prints all printable characters to the serial
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118 | |||
119 | baud rate is 115200
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120 | */
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121 | void serial_test( void ) { |
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122 | int i;
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123 | |||
124 | serial1_init(BAUD115200); |
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125 | fdevopen(&serial1_putchar,&serial1_getchar); |
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126 | for(i = 32; i <= 126; i++) { |
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127 | printf("%d",i);
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128 | delay_ms(250);
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129 | } |
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130 | |||
131 | return;
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132 | } |
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133 | |||
134 | void pullup_test()
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135 | { |
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136 | lcd_init(); |
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137 | lcd_putstr("pullup test");
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138 | delay_ms(100);
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139 | |||
140 | digital_pull_up(PIN_A4); |
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141 | digital_pull_up(PIN_A5); |
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142 | digital_pull_up(PIN_A6); |
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143 | digital_pull_up(PIN_A7); |
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144 | while(1){ |
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145 | lcd_clear_screen(); |
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146 | if(!digital_input(PIN_A4))
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147 | lcd_putchar('0');
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148 | else
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149 | lcd_putchar(' ');
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150 | if(!digital_input(PIN_A5))
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151 | lcd_putchar('1');
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152 | else
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153 | lcd_putchar(' ');
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154 | if(!digital_input(PIN_A6))
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155 | lcd_putchar('2');
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156 | else
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157 | lcd_putchar(' ');
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158 | if(!digital_input(PIN_A7))
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159 | lcd_putchar('3');
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160 | else
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161 | lcd_putchar(' ');
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162 | delay_ms(100);
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163 | } |
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164 | } |
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165 | |||
166 | void batt_test()
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167 | { |
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168 | lcd_init(); |
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169 | |||
170 | analog_init(); |
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171 | |||
172 | while(1){ |
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173 | lcd_clear_screen(); |
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174 | lcd_putint(battery()); |
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175 | delay_ms(1000);
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176 | } |
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177 | } |
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178 |