root / trunk / code / tools / rangefinders / robot / testIRcycle.c @ 1637
History | View | Annotate | Download (1.33 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
|
3 |
int main(void) |
4 |
{ |
5 |
/* initialize components, set wireless channel */
|
6 |
dragonfly_init(ALL_ON); |
7 |
|
8 |
//Replace the next two lines with your own code
|
9 |
//You can add as many lines as you want
|
10 |
|
11 |
uint8_t rangeNumber[] = {IR1,IR2,IR3,IR4,IR5}; //0 indexed
|
12 |
uint8_t cIndex; |
13 |
|
14 |
//initial setup (IR1)
|
15 |
cIndex=0;
|
16 |
orb1_set_color(BLUE); |
17 |
orb2_set_color(GREEN); |
18 |
|
19 |
while(1) { |
20 |
|
21 |
usb_puti(range_read_distance(rangeNumber[cIndex])); |
22 |
usb_putc('\r');
|
23 |
|
24 |
if (button1_click()) {
|
25 |
switch (cIndex){ //button1 chooses a color channel |
26 |
case 0: //IR1 |
27 |
orb1_set_color(RED); |
28 |
orb2_set_color(RED); |
29 |
cIndex=1;
|
30 |
break;
|
31 |
case 1: //IR2 |
32 |
|
33 |
orb1_set_color(GREEN); |
34 |
orb2_set_color(GREEN); |
35 |
cIndex=2;
|
36 |
break;
|
37 |
case 2: //IR3 |
38 |
|
39 |
orb1_set_color(BLUE); |
40 |
orb2_set_color(BLUE); |
41 |
cIndex=3;
|
42 |
break;
|
43 |
case 3: //IR4 |
44 |
orb1_set_color(YELLOW); |
45 |
orb2_set_color(YELLOW); |
46 |
cIndex=4;
|
47 |
break;
|
48 |
case 4: //IR5 |
49 |
orb1_set_color(BLUE); |
50 |
orb2_set_color(GREEN); |
51 |
cIndex=0;
|
52 |
break;
|
53 |
default: //undefined |
54 |
return 0; |
55 |
break;
|
56 |
} |
57 |
delay_ms(50); //allows button press to release |
58 |
} |
59 |
delay_ms(50); //refresh frequency: 1000/(50ms) refresh rate |
60 |
|
61 |
} |
62 |
|
63 |
|
64 |
|
65 |
//this tell the robot to just chill out forever. don't put anything after this
|
66 |
while(1); |
67 |
return 0; |
68 |
} |