//Main function
int main() {
//Create a variable to hold the bit pattern
unsigned int u;
//Flash LED's to indicate the code is running
binaryOutput = 7;
wait(0.5);
binaryOutput = 0;
while(1) {
u = 7; //Set initial value 111
binaryOutput = u; //Show binary on LED's
waitForButtonPress(); //Call function
//Use & to reset bit 1
u = u & 5; //AND with binary 101
binaryOutput = u;
waitForButtonPress();
//Modify u with & to reset bit 2 to a 0
u = u & 3; //AND with 011
binaryOutput = u;
waitForButtonPress();
//Modify u with & to reset bit 0 to a 0
u = u & 6; //AND with 110
binaryOutput = u;
waitForButtonPress();
} //end while(1)
} //end main
void setup() {
pinMode(BOARD_BUTTON_PIN, INPUT);
comm.begin(9600);
comm.println("*** Beginning BKP test");
comm.println("Init...");
bkp_init();
comm.println("Done.");
print_bkp_contents();
write_to_bkp(10);
print_bkp_contents();
comm.println("Enabling backup writes.");
bkp_enable_writes();
write_to_bkp(20);
print_bkp_contents();
comm.println("Disabling backup writes.");
bkp_disable_writes();
write_to_bkp(30);
print_bkp_contents();
comm.println("Done testing backup registers; press button to enable "
"independent watchdog (in order to cause a reset).");
waitForButtonPress(0);
iwdg_init(IWDG_PRE_4, 1);
comm.println();
}
//Main function
int main() {
//Create a variable to hold the bit pattern
unsigned int u;
//Flash LED's to indicate the code is running
binaryOutput = 7;
wait(0.5);
binaryOutput = 0;
while(1) {
u = 0; //Set initial value 0
binaryOutput = u; //Show binary on LED's
waitForButtonPress(); //Call function
//Use & to toggle bit 0
u = u ^ 1; //XOR with binary 001
binaryOutput = u;
waitForButtonPress();
//Toggle bit 1
//WRITE CODE HERE
binaryOutput = u;
waitForButtonPress();
//Toggle bit 2
//WRITE CODE HERE
binaryOutput = u;
waitForButtonPress();
//Toggle bits 0 and 2
//WRITE CODE HERE
binaryOutput = u;
waitForButtonPress();
//Toggle all bits
//WRITE CODE HERE
binaryOutput = u;
waitForButtonPress();
//Toggle all bits
//WRITE CODE HERE
binaryOutput = u;
waitForButtonPress();
} //end while(1)
} //end main
task LCDSelect() {
if (showVersion) {
clearLCD();
displayLCDCenteredString(0,"LCD Select v2.0-f"); //briefly display version for debug purposes
wait1Msec(750);
}
showVersion = false; //don't show the version again if autonSelection is ever reset
//Q1: Which side?
showOnLCD("Which side?","Left Right Sk.");
waitForPress();
int q1Response = nLCDButtons;
waitForRelease();
int q2Page = 1; //1 - Big/Small choices shown, 2 - Cube/Fence choices shown, 3 - Nothing choice shown
int q2Response = 0;
int q2PlayChosen = 0;
if (q1Response != 4) {
while (q2PlayChosen == 0) {
if (q2Page == 1) {
if (LCD_CUBE && LCD_STARS) {
showOnLCD("Choose play: 1/2","Cube Star >>");
} else if (LCD_CUBE && !LCD_STARS) {
showOnLCD("Choose play:","Cube >>");
} else if (!LCD_CUBE && LCD_STARS) {
showOnLCD("Choose play:"," Star >>");
} else {
showOnLCD("Press any btn","");
}
wait1Msec(250); //short delay to prevent button press from triggering multiple times
waitForPress();
q2Response = nLCDButtons;
if (q2Response == 4) {
q2Page = 3;
} else if (q2Response == 1) {
q2PlayChosen = 1;
} else if (q2Response == 2) {
q2PlayChosen = 2;
}
waitForRelease();
if (q2Response == 1 ||q2Response == 2) {
break;
}
}/* else if (q2Page == 2) {
showOnLCD("Choose play: 2/3","Cube Fence >>");
wait1Msec(250);
waitForPress();
q2Response = nLCDButtons;
if (q2Response == 4) {
q2Page = 3;
} else if (q2Response == 1) {
q2PlayChosen = 3;
} else if (q2Response == 2) {
q2PlayChosen = 4;
}
waitForRelease();
if (q2Response == 1 ||q2Response == 2) {
break;
}
} */else if (q2Page == 3) {
showOnLCD("Choose play: 2/2","Nothing >>");
wait1Msec(250);
waitForPress();
q2Response = nLCDButtons;
if (q2Response == 4) {
q2Page = 1;
} else if (q2Response == 1) {
q2PlayChosen = 4;
}
waitForRelease();
if (q2Response == 1 ||q2Response == 2) {
break;
}
} //end else if
} //end while
} //end if
if (q1Response == 4) {
AUTON_PLAY = 3;
playConfirmName = "Prog. skills";
} else {
if (q1Response == 1) {
AUTON_SIDE = LEFT;
} else { //q1Response == 2
AUTON_SIDE = RIGHT;
}
switch (q2PlayChosen) {
case 1:
AUTON_PLAY = 1;
playConfirmName = "Cube";
break;
case 2:
AUTON_PLAY = 2;
playConfirmName = "Back stars";
break;
//case 3 would be programming skills, which is handled above
case 4:
AUTON_PLAY = 4;
playConfirmName = "NOTHING";
break;
}
}
startTask(confirmChoice);
wait1Msec(250);
int confirmResult = waitForButtonPress();
stopTask(confirmChoice);
if (confirmResult == 2) {
if (AUTON_PLAY == 5) {
showOnLCD("NOTHING","No auton!");
} else {
showOnLCD(playConfirmName,"will run!");
}
} else {
startTask(restartAutonSelection);
}
} //end task
/*MAIN*/
int main()
{
//Declarations
int i, j;
int targets;
int center, error, most_blob;
int num_balls = 5;
int dist, prev;
int n = 0;
//Set up GPIO
gpio_export(POWER_LED_PIN);
gpio_set_dir(POWER_LED_PIN, OUTPUT_PIN);
gpio_export(CAMERA_LED_PIN);
gpio_set_dir(CAMERA_LED_PIN, OUTPUT_PIN);
gpio_export(BUTTON_PIN);
gpio_set_dir(BUTTON_PIN, INPUT_PIN);
gpio_export(RELOAD_LED_PIN);
gpio_set_dir(RELOAD_LED_PIN, OUTPUT_PIN);
gpio_export(ARDUINO_PIN);
gpio_set_dir(ARDUINO_PIN, OUTPUT_PIN);
gpio_set_value(ARDUINO_PIN, LOW);
//Set up PWM
initPWM();
usleep(microsecondsToMilliseconds(500));
//Dropper
setPeriod(DROPPER_MOTOR_INDEX, PWM_PERIOD);
setDuty(DROPPER_MOTOR_INDEX, percentageToDuty(DROPPER_DOWN_POSITION));
setRun(DROPPER_MOTOR_INDEX, 1);
//Grabber
setPeriod(GRABBER_MOTOR_INDEX, PWM_PERIOD);
setDuty(GRABBER_MOTOR_INDEX, GRABBER_UP_POSITION);
setRun(GRABBER_MOTOR_INDEX, 1);
//Right wheel
setPeriod(RIGHT_WHEEL_INDEX, PWM_PERIOD);
setDuty(RIGHT_WHEEL_INDEX, NEUTRAL_DUTY);
setRun(RIGHT_WHEEL_INDEX, 0);
//Left wheel
setPeriod(LEFT_WHEEL_INDEX, PWM_PERIOD);
setDuty(LEFT_WHEEL_INDEX, NEUTRAL_DUTY);
setRun(LEFT_WHEEL_INDEX, 0);
//Roller
setRun(ROLLER_MOTOR_INDEX, 0);
setPeriod(ROLLER_MOTOR_INDEX, PWM_PERIOD);
setDuty(ROLLER_MOTOR_INDEX, PWM_PERIOD*ROLLER_SPEED);
//Set up serial
serial* arduinoSerial;
if (serial_open(&arduinoSerial, ARDUINO_SERIAL_PORT, ARDUINO_BAUD_RATE) == 0){
printf("Opened Ardunio serial port sucessfully\n");
}
else{
printf("Failed to open Arduino serial port\n");
}
/*for(i = 0; i < 50; i++)
{
dist = getDistance(arduinoSerial);
printf("Instensity: %d\n", dist);
usleep(microsecondsToMilliseconds(100));
}
usleep(microsecondsToMilliseconds(5000));*/
//Turn on power LED
gpio_set_value(POWER_LED_PIN, HIGH);
printf("Systems are GO for launch!\n");
waitForButtonPress();
getDistance(arduinoSerial);
//Move to center of the board
goForward();
usleep(microsecondsToMilliseconds(1800));
stopWheels();
//Aim at right target
rotate(180);
if(aimAtSideMostTarget(1))
{
for (; num_balls > 3; num_balls--)
{
fireGolfBall();
}
}
//Move toward left target
rotate(-550);
goForward();
usleep(microsecondsToMilliseconds(2200));
stopWheels();
//Aim at left target
rotate(300);
if(aimAtSideMostTarget(0))
{
for (; num_balls > 1; num_balls--)
{
fireGolfBall();
}
}
//Aim at middle target
rotate(260);
aimAtBiggestTarget();
for(; num_balls > 0; num_balls--)
{
fireGolfBall();
}
//Move to sideline for reload
rotate(-600);
goForward();
buffer_clear(arduinoSerial);
do
{
prev = dist;
dist = getDistance(arduinoSerial);
//printf("%d, ", dist);
usleep(microsecondsToMilliseconds(9));
}
while (dist < DISTANCE_TO_WALL || dist == 0 || prev - dist > 5);
stopWheels();
rotate(1100);
//Turn on reload LED
gpio_set_value(RELOAD_LED_PIN, HIGH);
usleep(microsecondsToMilliseconds(3000));
gpio_set_value(RELOAD_LED_PIN, LOW);
while (n < 3) //big while loop thing!
{
//start from left
num_balls = 5;
goForward();
usleep(microsecondsToMilliseconds(1200));
stopWheels();
rotate(-420);
goForward();
usleep(microsecondsToMilliseconds(590));
stopWheels();
//Aim at left target
if(aimAtSideMostTarget(0))
{
for(; num_balls > 3; num_balls--)
{
fireGolfBall();
}
}
//Aim at middle target
rotate(420);
goForward();
usleep(microsecondsToMilliseconds(600));
stopWheels();
rotate(-150);
aimAtBiggestTarget();
for(; num_balls > 2; num_balls--)
{
fireGolfBall();
}
//Aim at right target
rotate(400);
goForward();
usleep(microsecondsToMilliseconds(2700));
stopWheels();
rotate(-370);
if(aimAtSideMostTarget(1))
{
for(; num_balls > 0; num_balls--)
{
fireGolfBall();
}
}
//Move to sideline for reload
rotate(320);
//usleep(microsecondsToMilliseconds(50));
goForward();
buffer_clear(arduinoSerial);
dist = 0;
do
{
prev = dist;
dist = getDistance(arduinoSerial);
//printf("And another thing....\n");
//printf("%d!!! \n", dist);
usleep(microsecondsToMilliseconds(10));
}while (dist < DISTANCE_TO_WALL || dist == 0 || prev - dist > 5);
stopWheels();
rotate(-900);
gpio_set_value(RELOAD_LED_PIN, HIGH);
usleep(microsecondsToMilliseconds(3000));
gpio_set_value(RELOAD_LED_PIN, LOW);
//start from right
num_balls = 5;
goForward();
usleep(microsecondsToMilliseconds(1350));
stopWheels();
rotate(570);
//Aim at right target
if(aimAtSideMostTarget(1))
{
for(; num_balls > 3; num_balls--)
{
fireGolfBall();
}
}
//Aim at middle target
rotate(-500);
goForward();
usleep(microsecondsToMilliseconds(4500));
stopWheels();
rotate(650);
aimAtBiggestTarget();
for(; num_balls > 2; num_balls--)
{
fireGolfBall();
}
//Aim at left target
rotate(-200);
if(aimAtSideMostTarget(0))
{
for(; num_balls > 0; num_balls--)
{
fireGolfBall();
}
}
//Move to sideline for reload
rotate(-400);
goForward();
buffer_clear(arduinoSerial);
do
{
prev = dist;
dist = getDistance(arduinoSerial);
usleep(microsecondsToMilliseconds(9));
}
while(dist < DISTANCE_TO_WALL || dist == 0 || prev - dist > 5);
stopWheels();
rotate(1000);
gpio_set_value(RELOAD_LED_PIN, HIGH);
usleep(microsecondsToMilliseconds(3000));
gpio_set_value(RELOAD_LED_PIN, LOW);
} //end of while loop
//Turn off gpio power
gpio_set_value(POWER_LED_PIN, LOW);
gpio_set_value(RELOAD_LED_PIN, LOW);
gpio_set_value(ARDUINO_PIN, LOW);
//Turn off motors
setRun(GRABBER_MOTOR_INDEX, 0);
setRun(DROPPER_MOTOR_INDEX, 0);
setRun(ROLLER_MOTOR_INDEX, 0);
setRun(RIGHT_WHEEL_INDEX, 0);
setRun(LEFT_WHEEL_INDEX, 0);
//Remove GPIO files
//gpio_unexport(PING_PIN);
return 0;
}
task main()
{
struct Account accountList[NUMACCOUNTS];
initAccounts(accountList, NUMACCOUNTS);
string account;
string cardnum;
string pin;
int accountindex;
bool pinCorrect;
while (getBatteryCurrent() > 0.02)
{
/*
displayString(0,"Swipe card to Begin");
do
{
cardnum = getCardSwipe();
accountindex = doesExist(cardnum, accountList);
displayString(0,"ERROR Card Not Found!!");
}while (accountindex == -1);
eraseDisplay();
do
{
pinCorrect = checkPin(accountList);
displayString(0,"ERROR Incorrect PIN");
}while (pinCorrect == false);
wait1Msec(100);
eraseDisplay();
wait1Msec(500);*/
//Selection Menu
while (getButtonPress(buttonEnter) != 1)
{
eraseDisplay();
displayString(1,"Press center button to close transaction");
displayString(2,"<---- ---->");
displayString(3,"Deposit Withdraw");
displayString(4," Balance: %f", accountList[accountindex].balance);
waitForButtonPress();
if (getButtonPress(buttonLeft) == 1)
{
int amount = doDeposit();
accountList[accountindex].balance += amount;
eraseDisplay();
displayString(0,"%d", amount);
}
else if (getButtonPress(buttonRight) ==1)
{
int amount = doWithdraw(accountList[accountindex]);
if (amount != -1)
{
accountList[accountindex].balance -= amount;
}
}
}
wait1Msec(5000);
}
}