EL_PROCESS Trigger_Accelerometer_Process(el_handle this_trigger){
static int previous_xyz[3] = {0,0,0};
const long threshold_s = 330L*330L;
long magnitude_s;// _s means squared;
int xyz[3];
int dx,dy,dz;
el_accelerometer_get(EL_ACCELEROMETER_ONE,EL_ACCELERATION_ALL_3V,xyz);
if(previous_xyz[0]!=0){
dx = xyz[0] - previous_xyz[0];
dy = xyz[1] - previous_xyz[1];
dz = xyz[2] - previous_xyz[2];
magnitude_s = (long)dx*dx;
magnitude_s += (long)dy*dy;
magnitude_s += (long)dz*dz;
if(magnitude_s > threshold_s){
el_led_set(EL_LED_BODY,EL_ON);
el_process_wait(200);
el_led_set(EL_LED_BODY,EL_OFF);
el_process_wait(200);
// 400 ms past, need to refresh values
el_accelerometer_get(EL_ACCELEROMETER_ONE,EL_ACCELERATION_ALL_3V,xyz);
}
}
previous_xyz[0] = xyz[0];
previous_xyz[1] = xyz[1];
previous_xyz[2] = xyz[2];
el_trigger_enable(this_trigger);
}
EL_PROCESS Process_LED(void*data){
while(1){
el_led_set(EL_LED_RING_2,1);
el_led_set(EL_LED_RING_6,0);
el_process_wait(500);
el_led_set(EL_LED_RING_2,0);
el_led_set(EL_LED_RING_6,1);
el_process_wait(500);
}
}
void Process_LED_PatternA(void*arg){
while(1){
el_led_set(EL_LED_BODY,EL_ON);
el_process_wait(4800);// "el_process_wait" works only in a process
el_led_set(EL_LED_BODY,EL_OFF);
el_process_wait(200);
}
}
void Process_LED_PatternB(void*arg){
int i = 0;
while(1){
el_led_set(EL_LED_RING_0 + i,EL_ON);
el_process_wait(125);
el_led_set(EL_LED_RING_0 + i,EL_OFF);
i++;
i %= 8;
}
}
void Process_ConsoleLoop(void*arg){
char c;
int i;
elu_printf("EL_EXAMPLE_04\n");
// setup the task
Task_ObjectFollowing_Setup();
el_process_wait(500);// wait for 500 ms
el_uart_flush_char(EL_UART_1);
while(1){
do{
el_process_cooperate();
}while(el_uart_get_char_counter(EL_UART_1)==0);
c = el_uart_get_char(EL_UART_1);
switch(c){
case 'f':
el_led_set(EL_LED_FRONT,EL_TOGGLE);
break;
case 'r':// report ir proximity sensor outputs
elu_println("<IR>");
el_ir_proximity_get(EL_IR_PROXIMITY_SENSOR_ALL,EL_IR_ALL_3V,(el_int16*)ProximitySensor);
elu_printf("AMB:");
for(i=0;i<8;i++){
elu_printf("\t%d",ProximitySensor[i].Ambient);
}
elu_putchar('\n');
elu_printf("REF:");
for(i=0;i<8;i++){
elu_printf("\t%d",ProximitySensor[i].Reflection);
}
elu_putchar('\n');
break;
case 'p':// report image processing result
elu_println("<IMG>");
elu_println("MASS:\t%d\t%d\t%d",vision_mass_red,vision_mass_green,vision_mass_blue);
elu_println("BIAS:\t%d\t%d\t%d",vision_bias_red,vision_bias_green,vision_bias_blue);
elu_putchar('\n');
break;
case '1':
Task_ObjectColor = TASK_OBJECT_RED;
elu_println("FOLLOW RED");
break;
case '2':
Task_ObjectColor = TASK_OBJECT_GREEN;
elu_println("FOLLOW GREEN");
break;
case '3':
Task_ObjectColor = TASK_OBJECT_BLUE;
elu_println("FOLLOW BLUE");
break;
}
}
Task_ObjectFollowing_Clear();
}
