// Polls the inputs and obtains new sensor readings.
// Updates LED indicators and detects button presses
void Update()
{
// Gets new sensor readings
left = analogRead(LEFT_SENSOR);
right = analogRead(RIGHT_SENSOR);
leftDetected = left < thresholdLeft;
rightDetected = right < thresholdRight;
// Detects button presses and decrements the LCD counter
if(StopButton()) MENU = true;
if(StartButton()) MENU = false;
lcdRefreshCount = (lcdRefreshCount <= 0) ? lcdRefreshPeriod : (lcdRefreshCount - 1);
// Reverse direction if bumper pressed
if(LeftBumper()) direction = RIGHT;
else if (RightBumper()) direction = LEFT;
}
// Polls the inputs and obtains new sensor readings.
// Updates LED indicators and detects button presses
void Update()
{
// Gets new sensor readings
left = analogRead(LEFT_SENSOR);
right = analogRead(RIGHT_SENSOR);
leftDetected = left > threshold;
rightDetected = right > threshold;
// Updates the LED tape-detect indicators. Pin logic is inverted
digitalWrite(LEFT_LED, !leftDetected);
digitalWrite(RIGHT_LED, !rightDetected);
digitalWrite(ERROR_LED, !((!leftDetected) && (!rightDetected)));
// Detects button presses and decrements the LCD counter
if(StopButton()) MENU = true;
if(StartButton()) MENU = false;
lcdRefreshCount = (lcdRefreshCount <= 0) ? lcdRefreshPeriod : (lcdRefreshCount - 1);
// Reverse direction if bumper pressed
if(LeftBumper()) direction = RIGHT;
else if (RightBumper()) direction = LEFT;
}
// Displays a tuning parameter on the LCD
void ProcessMenu()
{
motor.stop_all();
int debounceTime = 200;
int knobValue = knob(VALUE_ADJUST_KNOB) / 4;
LCD.clear(); LCD.setCursor(0,1);
LCD.print("Set to "); LCD.print(knobValue); LCD.print("?");
LCD.home();
int menuItem = knob(MENU_ADJUST_KNOB) / 200; // Divides by 256 to reduce possible values
switch (menuItem)
{
case SPEED:
LCD.print("Speed: ");
LCD.print(speed);
if (!StopButton(debounceTime)) break;
speed = knobValue * 4;
EEPROM.write(SPEED, speed / 4); // divide by four to prevent overflow (EEPROM max is 255)
break;
case PROPORTIONAL_GAIN:
LCD.print("P Gain: ");
LCD.print(proportionalGain);
if (!StopButton(debounceTime)) break;
proportionalGain = knobValue;
EEPROM.write(PROPORTIONAL_GAIN, proportionalGain);
break;
case DERIVATIVE_GAIN:
LCD.print("D Gain: ");
LCD.print(derivativeGain);
if (!StopButton(debounceTime)) break;
derivativeGain = knobValue;
EEPROM.write(DERIVATIVE_GAIN, derivativeGain);
break;
case THRESHOLD:
LCD.print("TH: ");
LCD.print((int)threshold);
LCD.print(" ");
LCD.print(left);
LCD.print(" ");
LCD.print(right);
if (!StopButton(debounceTime)) break;
threshold = knobValue * 2;
EEPROM.write(THRESHOLD, threshold / 2);
break;
case PERPENDICULAR:
LCD.print("PERP: ");
LCD.print((int)perpendicular);
if (!StopButton(debounceTime)) break;
perpendicular = knobValue;
EEPROM.write(PERPENDICULAR, perpendicular);
break;
default:
LCD.print("PERP: ");
LCD.print((int)perpendicular);
if (!StopButton(debounceTime)) break;
perpendicular = knobValue;
EEPROM.write(PERPENDICULAR, perpendicular);
break;
}
delay(30); // Pauses to prevent screen flicker
}
// Displays a tuning parameter on the LCD
void ProcessMenu()
{
motor.stop_all();
int debounceTime = 200;
int knobValue = knob(VALUE_ADJUST_KNOB);
LCD.clear(); LCD.setCursor(0,1);
LCD.print("Set to "); LCD.print(knobValue); LCD.print("?");
LCD.home();
int menuItem = knob(MENU_ADJUST_KNOB) / 100; // Divides by 1 to reduce possible values to something like 10
switch (menuItem)
{
case SPEED:
LCD.print("Speed: ");
LCD.print(speed);
if (!StopButton(debounceTime)) break;
speed = knobValue ;
EEPROM.write(SPEED, speed / 4); // divide by four to prevent overflow (EEPROM max is 255)
break;
case PROPORTIONAL_GAIN:
LCD.print("P Gain: ");
LCD.print(proportionalGain);
if (!StopButton(debounceTime)) break;
proportionalGain = knobValue;
EEPROM.write(PROPORTIONAL_GAIN, proportionalGain/4);
break;
case DERIVATIVE_GAIN:
LCD.print("D Gain: ");
LCD.print(derivativeGain);
if (!StopButton(debounceTime)) break;
derivativeGain = knobValue;
EEPROM.write(DERIVATIVE_GAIN, derivativeGain/4);
break;
case INTEGRAL_GAIN:
LCD.print("I Gain: ");
LCD.print(integralGain);
if (!StopButton(debounceTime)) break;
integralGain = knobValue;
EEPROM.write(INTEGRAL_GAIN, integralGain/4);
break;
case THRESHOLD_LEFT:
LCD.print("TH L: ");
LCD.print((int)thresholdLeft);
LCD.print(" ");
LCD.print(left);
if (!StopButton(debounceTime)) break;
thresholdLeft = knobValue;
EEPROM.write(THRESHOLD_LEFT, thresholdLeft / 4);
break;
case THRESHOLD_RIGHT:
LCD.print("TH R: ");
LCD.print((int)thresholdRight);
LCD.print(" ");
LCD.print(right);
if (!StopButton(debounceTime)) break;
thresholdRight = knobValue;
EEPROM.write(THRESHOLD_RIGHT, thresholdRight / 4);
break;
case PERPENDICULAR:
LCD.print("PERP: ");
LCD.print((int)perpendicular);
if (!StopButton(debounceTime)) break;
perpendicular = knobValue;
EEPROM.write(PERPENDICULAR, perpendicular /4 );
break;
case TURN_COMPENSATION:
LCD.print("COMP: ");
LCD.print((int)turnCompensationGain);
if (!StopButton(debounceTime)) break;
turnCompensationGain = knobValue;
EEPROM.write(TURN_COMPENSATION, turnCompensationGain /4 );
break;
default:
LCD.print("PERP: ");
LCD.print((int)perpendicular);
if (!StopButton(debounceTime)) break;
perpendicular = knobValue;
EEPROM.write(PERPENDICULAR, perpendicular / 4);
break;
}
delay(30); // Pauses to prevent screen flicker
}
