/*

* GLOVE.c

*/

#include "pmod.h"

#include "microblaze_sleep.h"

#include "grove_hapt.h"

#include "grove_colorsens.h"

#include <stdio.h>

#include <stdint.h>

#include "platform.h"

#include "xil_io.h"

#include "xparameters.h"

#include "xgpio_l.h"

#define leve XGPIO_DATA_OFFSET

#define base XPAR_SWSLEDS_GPIO_BASEADDR

int main(void)

{

colorPoint tempRead;

int x;

//Initialize the color sensor

init_csens();

//initialize the hapt AND Calibrate the hapt

for (x=1; x<4; x++){

init_hapt(x);

autoCal_hapt(x);

}

u8 val, ampR, ampG, ampB;

int VIB, SLEEP;

while (1)

{

//with a switch we turn it on

val = Xil_In8 (base+leve);

if ((val==1) || (val==2) || (val==4) || (val==8))

{

xil_printf ("Il dispositivo è acceso\n");

tempRead = readRGB_csens();

xil_printf("Red value is %d. \n",tempRead.Red);

xil_printf("Green value is %d. \n",tempRead.Green);

xil_printf("Blue value is %d. \n",tempRead.Blue);

xil_printf("Clear value is %d.\n",tempRead.Clear);

ampR = 12 * tempRead.Red /25;

ampG = 12 * tempRead.Green /25;

ampB = 12 * tempRead.Blue /25;

if (tempRead.Clear > 100)

{

VIB= 500;

SLEEP=500;

}

else

{

VIB= 2000;

SLEEP= 2000;

}

{

write_hapt(MODE_Reg, 0x05, 1, 1);

write_hapt(MODE_Reg, 0x05, 1, 2);

write_hapt(MODE_Reg, 0x05, 1, 3);

write_hapt(RTP_INPUT_Reg, ampR, 1, 1);

write_hapt(RTP_INPUT_Reg, ampG, 1, 2);

write_hapt(RTP_INPUT_Reg, ampB, 1, 3);

MB_Sleep (VIB);

write_hapt(MODE_Reg,0x40,1, 1);

write_hapt(MODE_Reg,0x40,1, 2);

write_hapt(MODE_Reg,0x40,1, 3);

MB_Sleep (SLEEP);

write_hapt(GO_Reg, 0x00,1, 1);

write_hapt(GO_Reg, 0x00,1, 2);

write_hapt(GO_Reg, 0x00,1, 3);

}

}

}

return 0;

}