static GObject *
impl_constructor (GType type,
guint n_construct_properties,
GObjectConstructParam *construct_properties)
{
RBGenericPlayerSource *source;
RBGenericPlayerSourcePrivate *priv;
GMount *mount;
char *mount_name;
RBShell *shell;
GFile *root;
GFileInfo *info;
GError *error = NULL;
source = RB_GENERIC_PLAYER_SOURCE (G_OBJECT_CLASS (rb_generic_player_source_parent_class)->
constructor (type, n_construct_properties, construct_properties));
priv = GENERIC_PLAYER_SOURCE_GET_PRIVATE (source);
g_object_get (source, "shell", &shell, NULL);
g_object_get (shell, "db", &priv->db, NULL);
priv->import_errors = rb_import_errors_source_new (shell, priv->error_type);
g_object_unref (shell);
g_object_get (source, "mount", &mount, NULL);
root = g_mount_get_root (mount);
mount_name = g_mount_get_name (mount);
info = g_file_query_filesystem_info (root, G_FILE_ATTRIBUTE_FILESYSTEM_READONLY, NULL, &error);
if (error != NULL) {
rb_debug ("error querying filesystem info for %s: %s", mount_name, error->message);
g_error_free (error);
priv->read_only = FALSE;
} else {
priv->read_only = g_file_info_get_attribute_boolean (info, G_FILE_ATTRIBUTE_FILESYSTEM_READONLY);
g_object_unref (info);
}
g_free (mount_name);
g_object_unref (root);
g_object_unref (mount);
priv->folder_depth = -1; /* 0 is a possible value, I guess */
priv->playlist_format_unknown = TRUE;
get_device_info (source);
load_songs (source);
return G_OBJECT (source);
}
static gboolean
ensure_loaded (RBGenericPlayerSource *source)
{
RBGenericPlayerSourcePrivate *priv = GET_PRIVATE (source);
RBSourceLoadStatus status;
if (priv->loaded) {
g_object_get (source, "load-status", &status, NULL);
return (status == RB_SOURCE_LOAD_STATUS_LOADED);
} else {
priv->loaded = TRUE;
rb_media_player_source_load (RB_MEDIA_PLAYER_SOURCE (source));
load_songs (source);
return FALSE;
}
}
/**
*
* Function to initialize the timers, registers, etc. for the ir, ping, servo, lcd
*/
void initialize()
{
// Initialize Serial Communication
serial_init(57600);
// initialize timers for use by ping sensor and servo
timer3_init();
timer_init();
// initialize ADC for use by IR sensor
ADC_init();
// Initialize Open Interface and sensor data
sensor_data = oi_alloc();
oi_init(sensor_data);
// initialize LCD
lcd_init();
load_songs();
}
static GObject *
impl_constructor (GType type,
guint n_construct_properties,
GObjectConstructParam *construct_properties)
{
RBGenericPlayerSource *source;
RBGenericPlayerSourcePrivate *priv;
GMount *mount;
char **playlist_formats;
char *mount_name;
RBShell *shell;
GFile *root;
GFileInfo *info;
GError *error = NULL;
source = RB_GENERIC_PLAYER_SOURCE (G_OBJECT_CLASS (rb_generic_player_source_parent_class)->
constructor (type, n_construct_properties, construct_properties));
priv = GENERIC_PLAYER_SOURCE_GET_PRIVATE (source);
g_object_get (source, "shell", &shell, NULL);
g_object_get (shell, "db", &priv->db, NULL);
priv->import_errors = rb_import_errors_source_new (shell, priv->error_type);
g_object_unref (shell);
g_object_get (source, "mount", &mount, NULL);
root = g_mount_get_root (mount);
mount_name = g_mount_get_name (mount);
info = g_file_query_filesystem_info (root, G_FILE_ATTRIBUTE_FILESYSTEM_READONLY, NULL, &error);
if (error != NULL) {
rb_debug ("error querying filesystem info for %s: %s", mount_name, error->message);
g_error_free (error);
priv->read_only = FALSE;
} else {
priv->read_only = g_file_info_get_attribute_boolean (info, G_FILE_ATTRIBUTE_FILESYSTEM_READONLY);
g_object_unref (info);
}
g_free (mount_name);
g_object_unref (root);
g_object_unref (mount);
g_object_get (priv->device_info, "playlist-formats", &playlist_formats, NULL);
if (playlist_formats != NULL && g_strv_length (playlist_formats) > 0) {
RhythmDBEntryType entry_type;
g_object_get (source, "entry-type", &entry_type, NULL);
entry_type->has_playlists = TRUE;
g_boxed_free (RHYTHMDB_TYPE_ENTRY_TYPE, entry_type);
}
g_strfreev (playlist_formats);
load_songs (source);
return G_OBJECT (source);
}
/**
* Used to control the robot.
* Receive and transmit data, measure the distance from object and navigate to the retrieval zone.
**/
int main(void)
{
lcd_init();
timer3_init();
timer_init();
ADC_init();
USART_Init();
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);//should turn the iRobot Create's power LED yellow
lcd_init();
serial_puts("Start");
//USART_Transmit(13);
//USART_Transmit(10);
int TempAngle[4] = {0,0,0,0};
int TempIR[4] = {0,0,0,0};
int pos[4] = {0,0,0,0};
int AddIR[4] = {0,0,0,0};
int count[4] = {0,0,0,0};
int found = 0;
int x1 = 0;
int x2 = 0;
int x3 = 0;
int x4 = 0;
unsigned angle = 0;
unsigned char IR = 0;
volatile int i=0;
volatile int x = 0;
char command;
char display[100];
char display1[20];
char display2[20];
char display3[20];
char display4[20];
char display5[100];
char display6[100];
while (1)
{
command = USART_Recieve();
USART_Transmit(command);
//USART_Transmit(13);
//USART_Transmit(10);
if (command == '1')
{
found = 0;
angle = 0;
int t;
int TempAngle[6] = {0, 0,0,0,0,0};
int TempIR[6] = {0, 0,0,0,0,0};
int pos[6] = {0, 0,0,0,0,0};
int AddIR[6] = {0, 0, 0,0,0,0};
int count[6] = {0, 0, 0,0,0,0};
for (angle = 0;angle < 181;angle++)
{
move_servo(angle);
wait_ms(20);
IR = 0;
IR = 42800*pow(ADC_read(2),-1.23);
sprintf(display6, "Angle: %5d IR: %5d",angle,IR);
serial_puts(display6);
if (IR < 80)
{
TempAngle[found]++;
count[found]++;
AddIR[found]+=IR;
TempIR[found]=AddIR[found]/count[found];
}
else
{
if(TempAngle[found] < 5)
{
TempAngle[found] = 0;
}
else
{
pos[found] = angle- TempAngle[found]/2;
if (TempIR[found]*TempAngle[found]< 460)
{
USART_Transmit(13);
USART_Transmit(10);
for (int i = 0;i<strlen(s8);i++)
{
USART_Transmit(s8[i]);
}
sprintf(display5, "object position: %5d",pos[found]);
serial_puts(display5);
}
sprintf(display, "object position: %5d IR: %5d object size: %5d",pos[found],TempIR[found],TempAngle[found]);
serial_puts(display);
USART_Transmit(13);
USART_Transmit(10);
found++;
}
}
}
OCR3B = 1000-1; //return to 0 degree
}
if (command == 'w')
{
move_forward(sensor_data,20);
}
if (command == 's')
{
move_backforward(sensor_data,20);
}
if (command == 'a')
{
turn_clockwise(sensor_data,82);
}
if (command == 'd')
{
turn_counterclockwise(sensor_data,82);
}
if (command == 'q')
{
turn_clockwise(sensor_data,38);
}
if (command == 'e')
{
turn_counterclockwise(sensor_data, 38);
}
if (command == '8')
{
move_forward(sensor_data,5);
}
if (command == '5')
{
move_backforward(sensor_data,5);
}
if (command == 'p')
{
oi_t* sensor = oi_alloc();
oi_init(sensor);
load_songs();
oi_play_song(songings);
}
if(command == 'k')
{
oi_update(sensor_data);
x1 = sensor_data->cliff_left_signal;
x2 = sensor_data->cliff_right_signal;
x3 = sensor_data->cliff_frontleft_signal;
x4 = sensor_data->cliff_frontright_signal;
sprintf (display1, "left = %d",x1);
sprintf (display2, "right = %d",x2);
sprintf (display3, "front left = %d",x3);
sprintf (display4, "front right = %d",x4);
USART_Transmit(13);
USART_Transmit(10);
serial_puts(display1);
serial_puts(display3);
serial_puts(display4);
serial_puts(display2);
if (x1>500||x2>500||x3>500||x4>500)
{
USART_Transmit(13);
USART_Transmit(10);
for (int i=0;i<strlen(s6);i++)
{
USART_Transmit(s6[i]);
}
}
}
}
}
