bool MythBDPlayer::SwitchAngle(int angle)
{
uint total = GetNumAngles();
if (!total || angle == GetCurrentAngle())
return false;
if (angle >= (int)total)
angle = 0;
return player_ctx->buffer->BD()->SwitchAngle(angle);
}
bool MythBDPlayer::PrevAngle(void)
{
uint total = GetNumAngles();
int prev = GetCurrentAngle() - 1;
if (!total || total == 1)
return false;
if (prev < 0)
prev = total;
return SwitchAngle(prev);
}
bool MythBDPlayer::NextAngle(void)
{
uint total = GetNumAngles();
int next = GetCurrentAngle() + 1;
if (!total)
return false;
if (next >= (int)total)
next = 0;
return SwitchAngle(next);
}
void main(void)
{
// USER CODE BEGIN (Main,2)
signed int ret_left;
signed int ret_right;
volatile signed int gyrovalue;
unsigned char ledvalue;
volatile signed int winkel = 0.0;
volatile signed int val_x;
volatile signed int val_y;
volatile signed int val_z;
unsigned char counter = 0;
unsigned char timebase = 20; // * 5 ms
// USER CODE END
MAIN_vInit();
// USER CODE BEGIN (Main,3)
BalanceInit();
// USER CODE END
while(1)
{
// USER CODE BEGIN (Main,4)
while(0 == timerevent);
timerevent = 0;
counter--;
if (counter == 0)
{
counter = timebase;
ReadSensorData();
Balance();
// start reading the data, they will be get then
gyrovalue = ReadSpinValue();
winkel = GetCurrentAngle();
ledvalue = ReadSpinValueRaw();
val_x = ReadAccelValue(DIRECTION_X) + 512;
val_y = ReadAccelValue(DIRECTION_Y) + 512;
val_z = ReadAccelValue(DIRECTION_Z) + 512;
P10_OUT_P7 = (gyrovalue > 35) ? 0 : 1;
P10_OUT_P6 = (gyrovalue > 25) ? 0 : 1;
P10_OUT_P5 = (gyrovalue > 15) ? 0 : 1;
P10_OUT_P4 = (gyrovalue > 5) ? 0 : 1;
P10_OUT_P3 = (gyrovalue < -5) ? 0 : 1;
P10_OUT_P2 = (gyrovalue < -15) ? 0 : 1;
P10_OUT_P1 = (gyrovalue < -25) ? 0 : 1;
P10_OUT_P0 = (gyrovalue < -35) ? 0 : 1;
// do some kind of stuff
//ret_left = 00;
//ret_right = 00;
//SetMotorSpeeds(&ret_left, &ret_right);
//SetMotorSpeedsNoReturn(links_p, rechts_p);
// faehrt vorwärts hoffentlich
// und au langsam
//SetMotorSpeedsNoReturn(speed, speed);//20, 20);
}
// USER CODE END
}
} // End of function main
signed char CreateOrbitProgram() {
UI_Location = UI_LOC_ORBITSETUP;
signed char ret;
const char *DIRECTION_1 = "CLOCKWISE\0";
const char *DIRECTION_0 = "COUNTER CLOCKWISE\0";
const char*DirectionMenu[2];
DirectionMenu[0] = DIRECTION_0;
DirectionMenu[1] = DIRECTION_1;
const char *SpeedMODE_0 = "MANUAL\0";
const char *SpeedMODE_1 = "PER ORBIT\0";
const char *SpeedMODE_2 = "FOR ALL ORBITS\0";
const char*SpeedModeMenu[3];
SpeedModeMenu[0] = SpeedMODE_0;
SpeedModeMenu[1] = SpeedMODE_1;
SpeedModeMenu[2] = SpeedMODE_2;
const char *ENDMODE_0 = "BY ORBIT COUNT\0";
const char *ENDMODE_1 = "BY TOTAL TIME\0";
const char *ENDMODE_2 = "NEVER ENDING\0";
const char*EndModeMenu[3];
EndModeMenu[0] = ENDMODE_0;
EndModeMenu[1] = ENDMODE_1;
EndModeMenu[2] = ENDMODE_2;
const char *COMMAND_0 = "RUN PROGRAM\0";
const char *COMMAND_1 = "SAVE PRESET\0";
const char*CommandMenu[2];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
labelOrigin:
LCD_ClearDisplay();
LCD_PrintString("MOVE TO START...\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK.\0");
bFollowMode = 1;
ret = GetClick();
bFollowMode = 0;
if (ret < 0) return ret;
CurrentOrbitProgram.Origin_deg = (unsigned int) GetCurrentAngle();
labelDirection:
ret = DisplayChoices(DirectionMenu, 1, "ROTATION DIRECTION:\0", CurrentOrbitProgram.IsClockWise);
if (ret == -1) goto labelOrigin;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.IsClockWise = ret;
labelEndMode:
ret = DisplayChoices(EndModeMenu, 2, "PROGRAM END MODE:\0", CurrentOrbitProgram.EndMode);
if (ret == -1) goto labelDirection;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.EndMode = ret;
switch (CurrentOrbitProgram.EndMode) {
case 0: //End based on Cycle Count.
labelCycleCount :
if (CurrentOrbitProgram.CycleCount_rev < 1) CurrentOrbitProgram.CycleCount_rev = 1;
if (CurrentOrbitProgram.CycleCount_rev > 999) CurrentOrbitProgram.CycleCount_rev = 999;
ret = GetFloat("ORBIT LIMIT:\0", "", &CurrentOrbitProgram.CycleCount_rev, 1, 999, 1.0);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
labelSpeedMode:
if (CurrentOrbitProgram.CycleCount_rev > 1) ret = DisplayChoices(SpeedModeMenu, 2, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
else ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelCycleCount;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
case 2:
if (CurrentOrbitProgram.CycleTime_sec < (4 * CurrentOrbitProgram.CycleCount_rev)) CurrentOrbitProgram.CycleTime_sec = 4 * CurrentOrbitProgram.CycleCount_rev;
ret = GetTime("TIME FOR ALL ORBITS\0", &CurrentOrbitProgram.CycleTime_sec, 4 * CurrentOrbitProgram.CycleCount_rev, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = (360 * CurrentOrbitProgram.CycleCount_rev) / CurrentOrbitProgram.CycleTime_sec;
break;
}
break;
case 1://End based on runtime.
labelProgramRuntime :
ret = GetTime("TOTAL RUNTIME:\0", &CurrentOrbitProgram.ProgramRunTime_sec, 1, 86400, 0b1110);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
labelSpeedMode2:
ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelProgramRuntime;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode2;
if (ret == -2) return (-2);
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode2;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
}
CurrentOrbitProgram.CycleCount_rev = (CurrentOrbitProgram.Speed_deg_sec * CurrentOrbitProgram.ProgramRunTime_sec) / 360;
break;
case 2: //NO END AT ALL
labelSpeedMode3 :
ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode3;
if (ret == -2) return (-2);
if (ret < 0) return ret;
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode3;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
}
break;
}
labelActions:
ret = DisplayChoices(CommandMenu, 1, "ACTION:\0", 0);
if (ret == -1) goto labelCycleCount;
if (ret == -2) return (-2);
if (ret < 0) return ret;
if (ret == 0) {
return RunOrbitProgram();
}
ret = GetPresetNumber();
if (ret == -1) goto labelActions;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.Type = 2;
SavePreset(ret, (unsigned char *) &CurrentOrbitProgram);
goto labelActions;
}