// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
turnOnPowerButtonLight();
delayMs(20);
// Infinite operation loop
int timerLoop = 0;
const int timerLimit = 15;
initializeUSBBuffer();
initializeRobotBuffer();
initializeSensorArray();
setLEDs(BOTHLED, FULL);
enableReports();
enableSensors();
while(1) {
pollSensors();
if(timerLoop == timerLimit){
compileReport();
sendUSBBuffer();
timerLoop = 0;
delayMs(1);
}
timerLoop++;
pollRemoteSensors();
pollRemote();
executeCommand();
delayMs(5);
}
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
delayMs(20);
initializeUSBBuffer();
initializeRobotBuffer();
initializeSensorArray();
setLEDs(BOTHLED, FULL);
enableReports();
enableSensors();
int fakeTimer = 0;
// Infinite operation loop
while(1) {
if (fakeTimer == 4) {
compileReport();
sendUSBBuffer();
fakeTimer = 0;
}
pollSensors();
delayMs(250);
fakeTimer++;
}
}
int main() {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// CSCE 274 students: I would make sure the robot stops.
// As a precaution for the robot and your grade.
//Doesn't need to stop for task 1 since it doesn't move.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something. I like red, but here is green.
// CSCE 274 students: The following should (will) be a function that you write.
changePowerLightRed(); //power light now red
// Initialize global variables
uint8_t bumpbyte, bumpLeft, bumpRight;
int rightLEDonInt = 0;
int leftLEDonInt = 1;
//call initial functions
//setup LEDs
setupRightLED();
setupLeftLED();
leftLEDon(); //start with left LED on
// Infinite operation loop
for(;;) {
while (!bumpRight && !bumpLeft) { //no bumps
//no bumps are rightLED on
if (rightLEDonInt == 1 && leftLEDonInt == 0 && !bumpRight && !bumpLeft) {
rightLEDoff();
rightLEDonInt = 0;
leftLEDon();
leftLEDonInt = 1;
} //no bumps and left LED on
else if (rightLEDonInt == 0 && leftLEDonInt == 1 && !bumpRight && !bumpLeft) {
rightLEDon();
rightLEDonInt = 1;
leftLEDoff();
leftLEDonInt = 0;
} //no bumps and LEDs off
else if (rightLEDonInt == 0 && leftLEDonInt == 0 && !bumpRight && !bumpLeft) {
rightLEDon();
rightLEDonInt = 1;
}//no bumps and both LEDs on
else if (rightLEDonInt == 1 && leftLEDonInt == 1 && !bumpRight && !bumpLeft) {
leftLEDon();
leftLEDonInt = 1;
}
delayMs(100); //delay for tenth of a second
//update bump sensors
byteTx(CmdSensors);
byteTx(SenOverC);
bumpbyte = byteRx();
bumpRight = bumpbyte & (1 << 0);
bumpLeft = bumpbyte & (1 << 1);
}
//update bump sensors again
byteTx(CmdSensors);
byteTx(SenOverC);
bumpbyte = byteRx();
bumpRight = bumpbyte & (1 << 0);
bumpLeft = bumpbyte & (1 << 1);
//turn on LEDs according to bump sensors
if (bumpRight) {
rightLEDon();
rightLEDonInt = 1;
} else {
rightLEDoff();
rightLEDonInt = 0;
}
if (bumpLeft) {
leftLEDon();
leftLEDonInt = 1;
} else {
leftLEDoff();
leftLEDonInt = 0;
}
delayMs(10);
if(UserButtonPressed) {
powerOffRobot();
exit(1);
}
}
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
initializeSensors(); // Sets up sensors.
delayMs(200); // Gives the robot time to process.
allowDriving(); // Enables Driving.
enableOrders(); // Enables driveOrders()
initializePlanner(); // Sets up the planner.
decidePlanState(); // Decide on an initial state of the planner.
disableIntegral(); // Integral term only used for state MAKETURN.
//int16_t speed = DRIVESPEED; // Standard speed.
delayMs(500); // Gives the robot time to process all of the above before continuing.
// Infinite operation loop
while(1) {
compileSensors(); // Build the sensor Struct. Automatic Polling.
decidePlanState();
delayMs(50); // The above operations are time-consuming, so wait.
switch (getPlanState()) {
case FINDWALL:
debugLEDOff();
delayMs(10);
break;
case REPOSITION:
buildInfrared();
buoyLights();
doDocking();
break;
case STOP:
driveOrders(0, 0, 50);
debugLEDOff();
delayMs(10);
break;
default:
debugLEDOff(); // Turn on the lights.
delayMs(10);
break;
}
}
}
