/**
*Turns on LED lights signifying reaching the retrieval area of the course.
*The LED light at the Power Button will transition from Green to Red and back repeatedly until the robot is turned off.
*The two other LED lights will flash repeatedly until robot is turned off.
*/
void final_LED_sequence(void) {
char power_color = 0;
char advance_play_led = 0;
char intensity = 255;
while(1) {
for (power_color; power_color < 255; ++power_color) {
if(advance_play_led == 0) {
advance_play_led = 1;
}
else {
advance_play_led = 0;
}
oi_set_leds(advance_play_led, advance_play_led, power_color, intensity);
wait_ms(10);
}
for (power_color; power_color > 0; --power_color) {
if(advance_play_led == 0) {
advance_play_led = 1;
}
else {
advance_play_led = 0;
}
oi_set_leds(advance_play_led, advance_play_led, power_color, intensity);
wait_ms(10);
}
}
}
/// Initialize the Create
void oi_init(oi_t *self)
{
lcd_clear();
lcd_puts("Starting OI...");
// Setup USART1 to communicate to the iRobot Create using serial (baud = 57600)
UBRR1L = 16; // UBRR = (FOSC/16/BAUD-1);
UCSR1B = (1 << RXEN) | (1 << TXEN);
UCSR1C = (3 << UCSZ10);
// Starts the SCI. Must be sent first
oi_byte_tx(OI_OPCODE_START);
oi_byte_tx(OI_OPCODE_BAUD);
oi_byte_tx(8); // baud code for 28800
wait_ms(100);
// Set the baud rate on the Cerebot II to match the Create's baud
UBRR1L = 33; // UBRR = (FOSC/16/BAUD-1);
// Use Full mode, unrestricted control
oi_byte_tx(OI_OPCODE_FULL);
oi_set_leds(1, 1, 7, 255);
oi_update(self);
oi_update(self); // call twice to clear distance/angle
lcd_clear();
}
int main(void)
{
usart0_init(25, 8, 1, USART_PARITY_EVEN,1); //38400
usart1_init(25, 8, 1, USART_PARITY_DISABLED,0); //TODO check oi_alternative OI_ALTERNATE_BAUD_RATE
_delay_ms(333);
oi_switch_baud_rate();
_delay_ms(333);
oi_init();
oi_full_mode();
int i;
int val;
for (i = 0; i < 10; i++)
{
val = i % 2;
oi_set_leds(val, val, val, val, 0xFF * val, 0xFF);
_delay_ms(50);
}
oi_init();
//input_capture_test();
printf0("Hello world!\r\n");
printf0(" 0x%02X 0x%02X 0x%02X", UCSR0A, UCSR0B, UCSR0C);
_delay_ms(3000);
doSweepLoop();
doPingLoop();
doIrLoop();
servo_test();
}
//Handler for OI, moved from control.
void oi_system()
{
movement_data_t movement_data;
rotation_data_t rotation_data;
enum {
oi_command_init = 0,
oi_command_move = 1,
oi_command_rotate = 2,
oi_command_play_song = 3,
oi_command_dump = 4,
oi_command_end_sequence = 5
} oi_command = usart_rx();
txq_enqueue(oi_command);
switch (oi_command) {
case oi_command_init:
oi_init(&(control.oi_state));
break;
case oi_command_move:
if(rx_frame()) {
r_error(error_frame,"Move should not have multiple frames.");
}
struct {
uint16_t speed;
uint16_t dist;
bool stream;
} *move_data = (void *) &control.data;
struct {
uint16_t dist;
uint8_t flag;
} *response_move = (void *) &control.data;
#warning "Stream functionality to be implemented later."
//Stream returns the distance traveled
//lcd_puts ("In OI subsystem"); //debug
movement_data = move_dist(&(control.oi_state), move_data->dist, move_data->speed);
response_move->dist = movement_data.travelled;
response_move->flag = movement_data.flag;
if (movement_data.flag != 0) {
movement_data = move_dist(&(control.oi_state), -20, move_data->speed);
response_move->dist += movement_data.travelled;
}
control.data_len = 3;
tx_frame(false);
break;
case oi_command_rotate:
if (rx_frame()) {
r_error(error_bad_message, "Rotate should only have one data frame.");
}
int16_t *angle = &(control.data[0]); // TODO: test if this is the right number of bytes
if (control.data_len != 2/*sizeof(*angle)*/) { // TODO: hardcoding to debug
r_error(error_bad_message, "Received too much data with rotate "
"message.");
}
struct {
uint16_t rotation;
} *response_rotation = (void *) &control.data;
rotation_data = turn(&(control.oi_state), *angle);
response_rotation->rotation = rotation_data.rotated;
control.data_len = 2;
tx_frame(false);
break;
//Sing me a song.
case oi_command_play_song:
#warning "oi_command_play_song is deprecated"
;
//assuming that we get two data frames, the first containing the notes and the second containing the durations.
int j;
struct {
uint8_t n; //The number of notes present in the song
//char data[n];
uint8_t index;
} *song_data = (void *) &control.data;
// int j;
while(rx_frame()) { //this should happen twice please
char tmp_notes[song_data->n];
char tmp_durs[song_data->n];
for(j =0; j<song_data->n; j++) {
//tmp_notes[n]; TODO: broken
#warning "oi_command_play_song not implemented"
}
}
break;
case oi_command_dump:
//copies all of the data from OI_UPDATE and transmits to Control.
oi_update(&(control.oi_state));
memcpy(control.data, &control.oi_state, sizeof(control.oi_state));
control.data_len = sizeof(control.oi_state);
tx_frame(false);
break;
case oi_command_end_sequence:
#warning "oi_command_end_sequence not implemented"
// Switch power LED off
oi_set_leds(1, 1, 0, 0);
wait_ms(50);
// Switch power LED to orange
oi_set_leds(1, 1, 170, 255);
wait_ms(50);
// Switch power LED off
oi_set_leds(1, 1, 0, 0);
wait_ms(50);
// Switch power LED to yellow
oi_set_leds(1, 1, 70, 255);
wait_ms(50);
// Switch power LED off
oi_set_leds(1, 1, 0, 0);
wait_ms(50);
// Switch power LED back to default state (from oi_init())
oi_set_leds(1, 1, 7, 255);
// Play song
songs_load(RICK_ROLL);
break;
default:
r_error(error_bad_message, "Bad OI Command");
break;
}
}
/**
*Turns on LEDs to show that start command has been given and the robot has not completed the course
*Power LED will be (NOT SURE), all other LEDs will be off
*/
void running_LED(void) {
oi_set_leds(0,0,0,255);
}
/**
*Turns on LEDs to show that it is in waiting for the start command to be transmitted
*Power LED will be red, all other LEDs will be off
*/
void initial_LED(void) {
oi_set_leds(255, 255, 255, 255);
}
