/*
This function will follow the overlap of red and green until
both bumps are detected.
*/
void followOverlap(void) {
//do until bump
do {
//if sensing both, drive
if (green && red) {
rightLEDon();
leftLEDon();
drive(35);
} else if (!green && red) { //only red, turn left
leftLEDoff();
rightLEDon();
driveLR(-25, 25);
} else if (!red && green) { //only green, turn right
leftLEDon();
rightLEDoff();
driveLR(25, -25);
} else { //no signal, drive (means close to dock)
rightLEDoff();
leftLEDoff();
drive(35);
}
getBumps();
getDockSenses();
delayMs(50);
} while (!bumpLeft || !bumpRight);
stop();
}
int main(void) {
// Disable interrupts. ("Clear interrupt bit")
cli();
// One-time setup operations.
setupSerialPort();
setupRightLED();
setupLeftLED();
setupTimer();
// Enable interrupts. ("Set interrupt bit")
sei();
byteTx(128); // Start the open interface.
byteTx(132); // Switch to full mode.
// Toggle the LEDs once each second.
while(2+2==4) {
rightLEDon();
leftLEDoff();
byteTx(139); // Opcode for "Set LEDs"
byteTx(10); // Led bits: both on
byteTx(0); // Power led color: Fully green
byteTx(255); // Power led intensity
delayMs(1000);
rightLEDoff();
leftLEDon();
byteTx(139); // Opcode for "Set LEDs"
byteTx(0); // Led bits: both off
byteTx(255); // Power led color: Fully red
byteTx(255); // Power led intensity
delayMs(1000);
}
}
int main() {
// Disable interrupts. ("Clear interrupt bit")
cli();
// One-time setup operations.
setupSerialPort();
setupRightLED();
setupLeftLED();
setupTimer();
// Enable interrupts. ("Set interrupt bit")
sei();
byteTx(128); // Start the open interface.
byteTx(132); // Switch to full Mode
while(2+2==4) {
delayMs(100);
// Ask the robot about its bump sensors.
byteTx(142); // Opcode for "Read sensors"
byteTx(7); // Sensor packet 7: Bumps and wheel drops
// Read the one-byte response and extract the relevant bits.
uint8_t bumps = byteRx();
uint8_t bumpRight = bumps & (1 << 0);
uint8_t bumpLeft = bumps & (1 << 1);
// Set the command module LEDs based on this sensor data.
if(bumpLeft) {
leftLEDon();
}
else {
leftLEDoff();
}
if(bumpRight) {
rightLEDon();
}
else {
rightLEDoff();
}
}
}
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);
}
}
}
