/*
This is the function to play simon. It will get a calibration for
each photocell, and then press the center button. From here, it
will read the lights until 15 seconds has been reached. After, it
will raise the arm and exit the function
*/
bool Challenge::Simon()
{
initializeServo();
int pinHolding[] = {
photocellPin, photocellPin1, photocellPin2, photocellPin3
};
boolean start = false;
int oldCounter = 0;
_support->Arm(100,true); //lower arm to Simon
startSimon(pinHolding,4);
unsigned long time = millis(); //get current time processor has been running
while((millis()-time)<=(unsigned long)(15*1000)) //if current time minus our beginning time stamp is less than 15 seconds
{
for (int i = 0; i < 4; i++)
{
int reading = analogRead(pinHolding[i]);
if (reading - cellThresholds[i] > LIT_THRESHOLD) //if the reading minus its calibration is greater than some brightness
{
colorSequence.push(i + 1); //add the correct servo to actuate to the sequence
start = true; //signal we've started playing
while (reading - cellThresholds[i] > LIT_THRESHOLD ) //while that same color is still high, block
{
reading = analogRead(pinHolding[i]);
}
}
}
if ((colorSequence.count() == (oldCounter+1)) && start) //if we have one more in our color sequence vs last time we played
{
oldCounter = colorSequence.count(); //change the value
Play(&colorSequence); //play
start = false;
}
}
_support->Arm(100,false); //return arm to native position
return true;
}
int main(int argc, char** argv)
{ //
int select = 102;
int Tdelay = 10 ;
long Mdelay = 10000 ;
// Switch statement control variable
int cnt = 30000 ;
int dutcycl = 24000 ;
int mot = 5000 ;
int period = 3125 ;
int pos = 0 ;
int position = 16000 ;
int stat = 0 ; // return status
int valu = 0 ; //returned value
int catch = 500 ;
char IMU_buf[96]={0x55} ;
int IMU_val[6] ; // IMU 3 axis value
long int nanoseconds=0 ;
long int dutcyc = 0 ;
int PWM_Positions[10] = {16000,18000,20000,22000,24000,26000,28000,30000,32000,16000} ;
// Initialization begins here
system.init() ;
dateTime.init() ;
_TRISE6 = 0; // configure port as output
_RE6 = 1; // set the output (active high) Turn on 6Volt supply
// Init I21C2
// Init Servo motor
PWM9_init() ;
SET_PWM9_Period(period) ;
SET_PWM9_DutyCycle(dutcycl) ;
// Init A2D Channel 10- motor current
// A2D_c10_init() ;
Analog_init() ;
// i2c2_TalkToDevice(RTC_ADDR, RTC_SET_LENGTH, STG_SET_TIME, 0, 0) ;
i2c2_init(75) ; // I2C2_KHz
i2c2_reset_bus() ;
while (cnt>0)
{ switch (select)
{ case 0 :
while (mot>0)
{ pos=0 ;
while (pos <9)
{ position=PWM_Positions[pos];
SET_PWM9_DutyCycle(position) ;
delay(Mdelay) ;
pos++ ;
}
--mot ;
}
break ;
case 1 :
valu = Read_Switch_Align() ;
break ;
case 2 :
valu = Read_Switch_Home() ;
break ;
case 3 :
nanoseconds= RSP78_init () ;
break ;
case 4 :
dutcyc = RSP78_Read_Sig_Period() ;
break ;
case 5 :
valu = A2D_c10_read() ;
break ;
case 6 :
valu = A2D_c10_sample(5,1) ;
break ;
case 7 :
SET_PWM9_Period( period) ;
break ;
case 8 :
SET_PWM9_DutyCycle(dutcycl) ;
break ;
case 9 :
break ;
// *********************************************
// Camera 1 Testing
// ******************************************
case 10 :
initializeCam1() ;
break ;
case 11 :
setOutputCam1(0) ;
break ;
case 12 :
setOutputCam1(1) ;
break ;
case 13 :
setOffCam1() ;
break ;
case 14 :
setOnCam1() ;
break ;
// *********************************************
// Camera 2 Testing
// *****************************************
case 20 :
initializeCam2() ;
break ;
case 21 :
setOutputCam2(0) ;
break ;
case 22 :
setOutputCam2(1) ;
break ;
case 23 :
setOffCam2() ;
break ;
case 24 :
setOnCam2() ;
break ;
// *********************************************
// LED 1 Testing
// *********************************************
case 30 :
initializeLED1() ;
break ;
case 31 :
setOutputLED1(0) ;
break ;
case 32 :
setOutputLED1(1) ;
break ;
case 33 :
setOffLED1() ;
break ;
case 34 :
setOnLED1() ;
break ;
// *********************************************
// LED2 Testing
// *********************************************
case 40 :
initializeLED2() ;
break ;
case 41 :
setOutputLED2(0) ;
break ;
case 42 :
setOutputLED2(1) ;
break ;
case 43 :
setOffLED2() ;
break ;
case 44 :
setOnLED2() ;
break ;
// *********************************************
// Servo 1 Testing
// *********************************************
case 50 :
initializeServo() ;
break ;
case 51 :
setOutputServo(0) ;
break ;
case 52 :
setOutputServo(1) ;
break ;
case 53 :
setOffServo() ;
break ;
case 54 :
setOnServo() ;
break ;
// *********************************************
// PING I2C2 Device Testing
// *********************************************
case 60 :
i2c2_TalkToDevice(I2C_CLR_DIAG, 0, NullPtr, 0, NullPtr) ; // Clear Diagn ostic Countrers
break ;
case 61 :
stat=i2c2_TalkToDevice(RTC_ADDR, 0, NullPtr, 0, NullPtr) ;
break ;
case 62 :
setI2C2_RTCTime(RTC_I2C_TimeStampData) ; // RGB Gesture
select = 63 ;
break ;
case 63 :
getI2C2_RTCTime(RTC_I2C_TimeStampData) ; //Temp Humidity Pressure
break ;
case 64 :
stat=i2c2_TalkToDevice(0x6B, 0, NullPtr, 0, NullPtr) ;
break ;
case 65 :
stat=i2c2_TalkToDevice(RTC_ADDR, 0, NullPtr, 0, NullPtr) ;
stat=i2c2_TalkToDevice(0x39, 0, NullPtr, 0, NullPtr) ;
stat=i2c2_TalkToDevice(0x77, 0, NullPtr, 0, NullPtr) ;
stat=i2c2_TalkToDevice(0x1D, 0, NullPtr, 0, NullPtr) ;
stat=i2c2_TalkToDevice(0x6B, 0, NullPtr, 0, NullPtr) ;
break ;
case 66 :
// dt=datetime.get ;
break ;
case 69 :
stat=i2c2_TalkToDevice(RTC_ADDR, 0, NullPtr, 0, NullPtr) ; // Real Time Clock Set Harmon Time
stat=i2c2_TalkToDevice(0x39, 0, NullPtr, 0, NullPtr) ; // RGBC
stat=i2c2_TalkToDevice(0x77, 0, NullPtr, 0, NullPtr) ; // THP
stat=i2c2_TalkToDevice(0x1D, 0, NullPtr, 0, NullPtr) ; // Accel/Magne
stat=i2c2_TalkToDevice(0x6B, 0, NullPtr, 0, NullPtr) ; // Gyro
break ;
// *********************************************
// RTC I2C2 Test both Real Time Clocks
// *********************************************
case 70 :
// Clear Diagnostic Countrers
stat=i2c2_TalkToDevice(I2C_CLR_DIAG, 0, NullPtr, 0, NullPtr) ;
delay(1) ;
break ;
case 71 :
// Ping using talk to device
stat=i2c2_TalkToDevice(RTC_ADDR, 0, NullPtr, 0, NullPtr) ;
delay(1) ;
break ;
case 72 :
stat=i2c2_TalkToDevice(RTC_ADDR, RTC_GET_LENGTH, RTC_SET_TIME, RTC_RSP_LENGTH, RTC_GET_TIME) ; // get I2C RTC BCD string
delay(1) ;
break ;
case 73 :
stat=i2c2_TalkToDevice(RTC_ADDR, RTC_SET_LENGTH, RTC_SET_TIME, 0, NullPtr) ; // set I2C RTC BCD string
delay(1) ;
break ;
case 74 :
stat=getI2C2_RTCTime(RTC_I2C_TimeStampData) ; // Get I2C RTC into TimeStamp STring
delay(1) ;
break ;
case 75 :
stat = setI2C2_RTCTime(RTC_I2C_TimeStampData) ; // Set I2c RTC from TimeStamp STring
delay(1) ;
break ;
case 76 :
getTimeStamp(RTC_I2C_TimeStampData) ; // get PIC RTC into timestamp string
delay(1) ;
break ;
case 77 :
setPIC_RTCTime(RTC_I2C_TimeStampData) ; // set PIC RTC from timestamp string
delay(1) ;
break ;
case 78 :
delay(1) ;
break ;
case 79 :
stat=getI2C2_RTCTime(RTC_I2C_TimeStampData) ;
setPIC_RTCTime(RTC_I2C_TimeStampData) ;
delay(1) ;
break ;
// *********************************************
// GYR I2C2 Decive Testing
// *********************************************
case 80 :
// Clear the Diagnostic buffer
stat=i2c2_TalkToDevice(I2C_CLR_DIAG, 0, NullPtr, 0, NullPtr) ; // Clear Diagn ostic Countrers
delay (1) ;
break ;
case 81 :
stat=enableIMU() ;
delay (1) ;
break ;
case 82 :
stat= dumpIMU(IMU_buf) ;
delay (1) ;
break ;
case 83 :
stat= readACC(IMU_val) ;
delay (1) ;
break ;
case 84 :
stat=readMAG(IMU_val) ;
delay (1) ;
break ;
case 85 :
stat=readGYR(IMU_val) ;
delay (1) ;
break ;
case 86 :
stat=i2c2_TalkToDevice(ACC_Addr, 0, NullPtr, 0, NullPtr) ;
delay (1) ;
break ;
case 87 :
stat=gyro3_main(argc, argv) ;
delay (1) ;
break ;
case 88 :
stat=AMG5_main(argc, argv) ;
delay (1) ;
break ;
case 89 :
delay (1) ;
break ;
// *********************************************
// RGB I2C2 Decive Testing
// *********************************************
case 90 :
stat=i2c2_TalkToDevice(I2C_CLR_DIAG, 0, NullPtr, 0, NullPtr) ; // Clear Diagn ostic Countrers
RGB_Configure1 () ;
select=94 ; // read back values
break ;
case 91 :
RGB_Configure2 () ;
break ;
case 92 :
RGB_Configure3 () ;
break ;
case 93 :
RGB_ReadStatus () ;
break ;
case 94 :
RGB_ReadValues () ;
break ;
case 95 :
RGB_ClearIrqs () ;
break ;
case 99 :
stat=RGB_Configure1 () ;
stat=RGB_ReadStatus () ;
stat=RGB_ReadValues () ;
stat=RGB_ReadStatus () ;
stat=RGB_ClearIrqs () ;
break ;
// *********************************************
// THP I2C2 Device Testing
// *********************************************
case 100 :
stat= i2c2_TalkToDevice(THP_Addr,0, NullPtr, 0, NullPtr) ; // ping device
break ;
case 101 :
// i2c2_TalkToDevice(I2C_CLR_DIAG, 0, NullPtr, 0, NullPtr) ;
stat = THP_Configure1 () ;
// select=105 ; // read back values
break ;
case 102 :
i2c2_TalkToDevice(I2C_CLR_DIAG, 0, NullPtr, 0, NullPtr) ;
stat = THP_Configure2 () ;
select=106 ; // read back values
break ;
case 103 :
stat = THP_Configure3 () ;
break ;
case 104 :
// stat = THP_ReadStatus () ; // part of read values
// select=104 ; // read back values
break ;
case 105 :
// stat = THP_Diag_RdIrqs () ;
THP_Init () ;
break ;
case 106 :
stat = THP_Read_Values () ;
break ;
case 107 :
// stat = THP_Diag_RdIrqs () ;
break ;
case 108 :
// stat = THP_Init () ;
// stat = THP_Diag_RdIrqs () ;
break ;
case 109 :
stat = THP_Configure1 () ;
// THP_ReadStatus () ;
stat = THP_Read_Values () ;
// stat = THP_ReadStatus () ;
// THP_Diag_RdIrqs () ;
break ;
default:
delay(10) ;
} // end of switch
// *********************************************
// SWITCH ENDS
// *********************************************
if(cnt % catch==0)
{ delay(10) ;
}
delay (Tdelay) ;
cnt-- ;
} // end of while
return (0);
}
