Revision 1424
Includes working naive version of Target Practice
| trunk/code/projects/targetPractice/targetBot/main.c | ||
|---|---|---|
| 1 | 1 |
#include <dragonfly_lib.h> |
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#include <encoders.h> |
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| 2 | 3 |
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| 3 | 4 |
int main(void) |
| 4 | 5 |
{
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int maxBOM, rangeVal; |
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dragonfly_init(ALL_ON); |
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encoders_init(); |
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int i, j, max = -1; |
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int vals[16]; |
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orbs_set_color(RED, RED); |
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delay_ms(2000); |
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orbs_set_color(GREEN, RED); |
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delay_ms(500); |
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orbs_set_color(RED, GREEN); |
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delay_ms(500); |
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orbs_set_color(GREEN, GREEN); |
| 14 | 17 |
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while (1) {
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/* Refresh and make sure the table is updated */ |
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bom_refresh(BOM_ALL); |
| 19 | 21 |
delay_ms(100); |
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maxBOM = bom_get_max(); |
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usb_puti(maxBOM); |
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usb_putc('\n');
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if (maxBOM == 4) {
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motors_off(); |
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break; |
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} |
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| 20 | 29 |
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/* Record values into an array */ |
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for (i = 0; i < 16; i++) {
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vals[i] = bom_get(i); |
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if (max < vals[i]) |
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max = vals[i]; |
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motor_l_set(BACKWARD, 175); |
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motor_r_set(FORWARD, 175); |
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} |
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while (1) {
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rangeVal = range_read_distance(IR2); |
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usb_puti(rangeVal); |
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usb_putc('\n');
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if (rangeVal < 500 && rangeVal > 20) {
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motors_off(); |
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orbs_set_color(RED, RED); |
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break; |
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} |
| 27 | 45 |
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/* Display results */ |
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for (i = 0; i < 16; i++) {
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usb_puti(vals[i]); |
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usb_putc('\t');
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motor_l_set(FORWARD, 175); |
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motor_r_set(FORWARD, 175); |
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| 33 | 48 |
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for (j = 0; j < (int)((max - vals[i]) / 5); j++) {
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usb_putc('#');
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} |
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} |
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usb_putc('\n');
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button2_wait();
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motor_l_set(FORWARD, 175); |
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motor_r_set(FORWARD, 175); |
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while (1) {
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if (encoder_get_x(LEFT) > 500) {
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motors_off(); |
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break; |
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| 40 | 60 |
} |
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} |
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| 41 | 62 |
|
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usb_puts("Max: ");
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usb_puti(bom_get_max()); |
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usb_putc('\n');
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usb_putc('\n');
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while (1) {
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delay_ms(400); |
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orbs_set_color(BLUE, GREEN); |
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delay_ms(500); |
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orbs_set_color(GREEN, BLUE); |
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delay_ms(500); |
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| 48 | 69 |
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} |
| 50 | 71 |
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while (1); /* END HERE */ |
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|
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return 0; |
| 52 | 75 |
} |
| 53 | 76 |
|
| trunk/code/projects/libdragonfly/bom.c | ||
|---|---|---|
| 79 | 79 |
#define MONK3 _PIN_E6 //blue |
| 80 | 80 |
#define MONK2 _PIN_E7 //white |
| 81 | 81 |
|
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#define BOM_VALUE_THRESHOLD 120 //200
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#define BOM_VALUE_THRESHOLD 150 //200
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| 83 | 83 |
#define NUM_BOM_LEDS 16 |
| 84 | 84 |
|
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/* |
Also available in: Unified diff