/*-----------------------------------------------------------------------------
* Function name: bat_check
* Description: This function checks the voltage on the batteries and
* displays a message on the LCD until the user presses B.
* The message on the first line cycles between the following:
* Bat Chk [-> descriptive message]
* xxxxmV [-> the battery voltage]
* Okay/Replace [-> whether the batteries should be replaced]
----------------------------------------------------------------------------*/
void bat_check( void )
{
int firstLineType = 0; /* what should be displayed on line 1 */
/* 0-19: Bat Chk */
/* 20-39: xxxxmV */
/* 40-59: Okay/Replace */
int bat = 0; /* last read battery voltage */
/* wait for user to press button B */
while(!button_is_pressed(BUTTON_B))
{
/* clear the lcd */
clear();
/* FIRST LINE */
/* set lcd position to beginning of first line */
lcd_goto_xy(0,0);
/* for first line, alternate between displaying:
Bat Check
xxxxmV
Okay/Replace */
if (firstLineType < 20)
{
print("Bat Chk");
}
else if (firstLineType < 40)
{
bat = read_battery_millivolts();
print_long(bat);
print("mV");
}
else if (firstLineType < 60)
{
if (bat >= 4500)
{
print("Okay"); /* okay */
}
else
{
print("Replace"); /* replace */
}
}
firstLineType++;
firstLineType = firstLineType % 60;
/* SECOND LINE */
/* set lcd position to beginning of second line */
lcd_goto_xy(0,1);
print("Press B");
/* small delay */
delay_ms(50);
}
/* once pressed, wait a little bit */
delay_ms(500);
}
// Displays the battery voltage.
void bat_test()
{
int bat = read_battery_millivolts();
print_long(bat);
print("mV");
delay_ms(100);
}
/** displayBattery ****************************************
* Output battery level, wait for button B
* @modifies lcd display has battery level output.
*/
void displayBattery() {
int bat;
const int LOW_BATTERY = 3500;
const int FULL_BATTERY = 6000;
double batPer;
while (!button_is_pressed(BUTTON_B)) {// as long as B is not pressed
bat = read_battery_millivolts();// read battery voltage
batPer = (double)(bat - LOW_BATTERY)/(FULL_BATTERY-LOW_BATTERY)*100; // compute percent of full value
clear();
print_long(batPer); // display value
print("%");
lcd_goto_xy(0,1);
print("Press B");
delay_ms(100); // wait a little bit
}
play_from_program_space(beep_button_b);
while (button_is_pressed(BUTTON_B)) ; // wait for button up
delay_ms(200);
}
int main( void )
{
/* main loop that runs forever */
while(1)
{
/* clear the lcd */
clear();
/* print name of program */
lcd_goto_xy(0,0); /* set lcd position to beginning of first line */
print("Battery");
lcd_goto_xy(0,1); /* set lcd position to beginning of second line */
print("Check");
/* delay 2 s */
delay_ms(2000);
/* clear the lcd */
clear();
/* obtain battery voltage and display on lcd */
int bat = read_battery_millivolts();
lcd_goto_xy(0,0); /* set lcd position to beginning of first line */
print_long(bat);
print("mV");
/* print whether voltage seems okay */
lcd_goto_xy(0,1); /* set lcd position to beginning of second line */
if (bat >= 4500)
{
print("Okay"); /* okay */
}
else
{
print("Replace"); /* replace */
}
/* delay 2 s */
delay_ms(2000);
}
}
void displayBattery() {
// get the millivolt value from the 3pi, convert to floating volts value
double volts = read_battery_millivolts() / 1000.0;
// calculate the percent decimal voltage
double percent = (volts - MIN_VOLTS) / (MAX_VOLTS - MIN_VOLTS);
// convert to a percentage
percent *= 100;
// display the percentage on the screen
clear();
print_long(percent);
print("%");
lcd_goto_xy(0,1);
print("Press B");
// shall we wait for B?
waitForB();
}
void initialize()
{
// Set PC5 as an input with internal pull-up disabled
DDRC5 &= ~(1<< PORTC5); //port 5 is an input
PORTC &= ~(1<< PORTC5);
// Play welcome music and display a message
print_from_program_space(welcome_line1);
lcd_goto_xy(0,1);
print_from_program_space(welcome_line2);
//play_from_program_space(welcome);
delay_ms(1000);
clear();
print_from_program_space(name_line1);
lcd_goto_xy(0,1);
print_from_program_space(name_line2);
delay_ms(1000);
// Display battery voltage and wait for button press
while(!button_is_pressed(BUTTON_B))
{
clear();
print_long(read_battery_millivolts());
print("mV");
lcd_goto_xy(0,1);
print("Press B");
delay_ms(100);
}
// Always wait for the button to be released so that 3pi doesn't
// start moving until your hand is away from it.
wait_for_button_release(BUTTON_B);
clear();
print("Go!");
// Play music and wait for it to finish before we start driving.
play_from_program_space(go);
while(is_playing());
}
void initialize()
{
//unsigned int counter; // used as a simple timer
//unsigned int sensors[5]; // an array to hold sensor values
// This must be called at the beginning of 3pi code, to set up the
// sensors. We use a value of 2000 for the timeout, which
// corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor.
pololu_3pi_init(2000);
//load_custom_characters(); // load the custom characters
// Play welcome music and display a message
print_from_program_space(welcome_line1);
lcd_goto_xy(0,1);
print_from_program_space(welcome_line2);
//play_from_program_space(welcome);
delay_ms(1000);
clear();
print_from_program_space(demo_name_line1);
lcd_goto_xy(0,1);
print_from_program_space(demo_name_line2);
delay_ms(1000);
// Display battery voltage and wait for button press
while(!button_is_pressed(BUTTON_B))
{
int bat = read_battery_millivolts();
clear();
print_long(bat);
print("mV");
lcd_goto_xy(0,1);
print("Press B");
delay_ms(100);
}
// Always wait for the button to be released so that 3pi doesn't
// start moving until your hand is away from it.
wait_for_button_release(BUTTON_B);
delay_ms(1000);
clear();
}
// Initializes the 3pi, displays a welcome message, calibrates, and
// plays the initial music.
void initialize()
{
unsigned int counter; // used as a simple timer
unsigned int sensors[5]; // an array to hold sensor values
// This must be called at the beginning of 3pi code, to set up the
// sensors. We use a value of 2000 for the timeout, which
// corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor.
pololu_3pi_init(2000);
load_custom_characters(); // load the custom characters
// Play welcome music and display a message
print_from_program_space(welcome_line1);
lcd_goto_xy(0,1);
print_from_program_space(welcome_line2);
play_from_program_space(welcome);
delay_ms(1000);
clear();
print_from_program_space(demo_name_line1);
lcd_goto_xy(0,1);
print_from_program_space(demo_name_line2);
delay_ms(1000);
// Display battery voltage and wait for button press
while(!button_is_pressed(BUTTON_B))
{
int bat = read_battery_millivolts();
clear();
print_long(bat);
print("mV");
lcd_goto_xy(0,1);
print("Press B");
delay_ms(100);
}
// Always wait for the button to be released so that 3pi doesn't
// start moving until your hand is away from it.
wait_for_button_release(BUTTON_B);
delay_ms(1000);
// Auto-calibration: turn right and left while calibrating the
// sensors.
for(counter=0;counter<80;counter++)
{
if(counter < 20 || counter >= 60)
set_motors(40,-40);
else
set_motors(-40,40);
// This function records a set of sensor readings and keeps
// track of the minimum and maximum values encountered. The
// IR_EMITTERS_ON argument means that the IR LEDs will be
// turned on during the reading, which is usually what you
// want.
calibrate_line_sensors(IR_EMITTERS_ON);
// Since our counter runs to 80, the total delay will be
// 80*20 = 1600 ms.
delay_ms(20);
}
set_motors(0,0);
// Display calibrated values as a bar graph.
while(!button_is_pressed(BUTTON_B))
{
// Read the sensor values and get the position measurement.
unsigned int position = read_line(sensors,IR_EMITTERS_ON);
// Display the position measurement, which will go from 0
// (when the leftmost sensor is over the line) to 4000 (when
// the rightmost sensor is over the line) on the 3pi, along
// with a bar graph of the sensor readings. This allows you
// to make sure the robot is ready to go.
clear();
print_long(position);
lcd_goto_xy(0,1);
display_readings(sensors);
delay_ms(100);
}
wait_for_button_release(BUTTON_B);
clear();
print("Go!");
// Play music and wait for it to finish before we start driving.
play_from_program_space(go);
while(is_playing());
}
// Sends the batter voltage in millivolts
void send_battery_millivolts()
{
int message[1];
message[0] = read_battery_millivolts();
serial_send_blocking((char *)message, 2);
}
