/*!
@brief Driver for Wiimote operation menu
Handles parsing wiimote input to determine correct operating mode.
This function will never exit once entered.
*/
ErrorID_t main_menu(cwiid_wiimote_t *wiimote,
volatile WiimoteStatusDataType *wiimote_status)
{
ErrorID_t error;
uint8_t menu_count;
uint16_t last_button_state = 0;
WII_OPERATE_STATE wii_operate_state = WII_OPERATE_INIT_MENU;
write_status_led(STATUS_LED_OFF, 0);
for (;;)
{
switch (wii_operate_state)
{
case WII_OPERATE_INIT_MENU:
menu_count = 0;
last_button_state = 0;
wii_operate_state = WII_OPERATE_WAIT_FOR_BUTTON_PRESS;
write_status_led(STATUS_LED_FLASH, 500);
if (0 > cwiid_set_led(wiimote, CWIID_LED1_ON))
return WII_ERROR_TRANSMIT;
if (0 > cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC))
return WII_ERROR_TRANSMIT;
if (0 > cwiid_set_rpt_mode(wiimote, CWIID_RPT_BTN))
return WII_ERROR_TRANSMIT;
/* Menu */
debug_print("%s", MENU);
set_lcd(0, "Connected.");
set_lcd(1, "Select Mode.");
break;
case WII_OPERATE_WAIT_FOR_BUTTON_PRESS:
error = wait_for_wiimotedata(wiimote_status, 2000);
if (error == ERR_WII_DATA_TIMEOUT)
{
set_lcd(0, "Select Mode");
set_lcd(1, (char *) lcd_menu_strings[menu_count]);
if (++menu_count >= MENU_ENTRIES)
menu_count = 0;
}
else if (0 < error)
{
shutdown_application(error);
}
else if (wiimote_status->button_data != last_button_state)
{
last_button_state = wiimote_status->button_data;
if (last_button_state & CWIID_BTN_A) // collect acceleration data
{
wii_operate_state = WII_OPERATE_DISPLAY_ACCELEROMETER_INFO;
}
else if (last_button_state & CWIID_BTN_B) // collect IR data
{
wii_operate_state = WII_OPERATE_DISPLAY_IR_STATUS;
}
else if (last_button_state & CWIID_BTN_HOME) // reset
{
shutdown_application(0);
}
else if (last_button_state & CWIID_BTN_PLUS)
{
sensor_cutoff_fwd += 5;
if (sensor_cutoff_fwd > 100)
sensor_cutoff_fwd = 100;
#if REVERSE_SENSOR_PRESENT
sensor_cutoff_rev += 5;
if (sensor_cutoff_rev > 100)
sensor_cutoff_rev = 100;
#endif
}
else if (last_button_state & CWIID_BTN_MINUS)
{
sensor_cutoff_fwd -= 5;
if (sensor_cutoff_fwd < 0)
sensor_cutoff_fwd = 0;
#if REVERSE_SENSOR_PRESENT
sensor_cutoff_rev -= 5;
if (sensor_cutoff_rev < 0)
sensor_cutoff_rev = 0;
#endif
}
else if (last_button_state & (CWIID_BTN_2 | CWIID_BTN_1))
{
wii_operate_state = WII_OPERATE_DISPLAY_BUTTON_STATUS;
}
}
break;
case WII_OPERATE_DISPLAY_ACCELEROMETER_INFO:
if (ERR_NONE != acceleration_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_ERROR_STATE;
else
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
case WII_OPERATE_DISPLAY_IR_STATUS:
if (ERR_NONE != infrared_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_ERROR_STATE;
else
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
case WII_OPERATE_DISPLAY_BUTTON_STATUS:
if (ERR_NONE != button_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_ERROR_STATE;
else
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
case WII_OPERATE_ERROR_STATE:
if (ERR_NONE == error_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
}
}
return ERR_NONE;
}
int main(void)
{
setup();
uart_init();
TWI_Init();
input = getchar();
while((input != 's'))//wait for user input to begin program
{
input = getchar();
}
sei();//global interrupts on
IMU_setup();
printf("\nLet's Begin\n\nChoose an option:\n\n space bar - PID (loops forever)\n 'm' - manual control (loops forever)\n 'i' - check IMU\n 'x' - get x acceleration\n 'y' - get y acceleration\n 'z' - get z acceleration\n 'f' - bluetooth fast mode\n 't' - test IMU write\n 'a' - enter acceleration mode\n");
while((1))
{
input = getchar();
if ((input == ' '))//PID algorithm
{
output_timer_on();
while((1))
{
PID();
}
}
else if ((input == 'm'))//manual control
{
printf("\nManual Mode:\n\nInstructions:\n\n 'n' - forwards\n 'v' - reverse\n 'b' - stop\n '1-9' - use the number keys to select the power level\n");
while((1))
{
manual();
}
}
else if ((input == 'i'))//check WHO_AM_I register
{
check_imu();
}
else if ((input == 'x'))//get x direction acceleration
{
acceleration = get_accel('x');
print_float(acceleration);
printf("\n");
}
else if ((input == 'y'))//get y direction acceleration
{
acceleration = get_accel('y');
print_float(acceleration);
printf("\n");
}
else if ((input == 'z'))//get z direction acceleration
{
acceleration = get_accel('z');
print_float(acceleration);
printf("\n");
}
else if ((input == 'f'))//place RN-42 HID into fast mode
{
fast_mode();
}
else if ((input == 't'))//write a regsiter of the IMU and check it worked
{
TWI_WRITEBYTE(MPU6050_PWR_MGMT_1, 0x02);
if ((TWI_READBYTE(MPU6050_PWR_MGMT_1) == 0x02))
printf("\nSuccess\n");
else
printf("\nFailure\n");
}
else if ((input == 'a'))//acceleration mode for acquiring data
{
acceleration_mode();
}
}
}
