int YesNo(char st[])
{
printf("%s? (Start=Y, Stop=N):\n", st);
while (1)
{
if (start_button()) {while (start_button()); return 1;}
if (stop_button()) {while (stop_button()); return 0;}
}
}
void replay_controller::update_replay_ui()
{
//check if we have all buttons - if someone messed with theme then some buttons may be missing
//if any of the buttons is missing, we just disable every one
if(!replay_ui_has_all_buttons()) {
gui::button *play_b = play_button(), *stop_b = stop_button(),
*reset_b = reset_button(), *play_turn_b = play_turn_button(),
*play_side_b = play_side_button();
if(play_b) {
play_b->enable(false);
}
if(stop_b) {
stop_b->enable(false);
}
if(reset_b) {
reset_b->enable(false);
}
if(play_turn_b) {
play_turn_b->enable(false);
}
if(play_side_b) {
play_side_b->enable(false);
}
}
}
void LookdownTest()
{
int cErr = 0;
int cLook = 0;
while (!stop_button())
{
cLook++;
Lookdown();
if (wLD < 10)
{
cErr++;
}
printf("iSight: %d wLD: %d [0-%d:%d-255] Low: %d\n", iSight, wLD, wBlack+wSlop, wWhite-wSlop, cErr);
}
while (stop_button());
}
void ServoRange()
{
int pos;
int portServ = 0;
while (!stop_button())
{
if (start_button())
{
portServ = 1 - portServ;
while (start_button());
}
pos = ScaleKnob(30, 3960);
printf("Servo: %d\n", pos);
servo(portServ, pos);
}
while (stop_button());
}
void replay_controller::reset_replay_ui()
{
if(!replay_ui_has_all_buttons())
return;
play_button()->enable(true);
stop_button()->enable(true);
reset_button()->enable(true);
play_turn_button()->enable(true);
play_side_button()->enable(true);
}
void replay_controller::replay_ui_playback_should_stop()
{
if(!replay_ui_has_all_buttons())
return;
if(!recorder.at_end()) {
play_button()->enable(true);
reset_button()->enable(true);
play_turn_button()->enable(true);
play_side_button()->enable(true);
play_button()->release();
play_turn_button()->release();
play_side_button()->release();
} else {
reset_button()->enable(true);
stop_button()->enable(false);
}
if(!is_playing_) {
//user interrupted
stop_button()->release();
}
}
void MainMenu()
{
func = -1;
while (!stop_button())
{
funcLast = func;
func = ScaleKnob(1, 27);
if (FDispMenu(1, "Calibrate Lookdown")) CalibrateLookdown();
if (FDispMenu(2, "Compete!")) Compete();
if (FDispMenu(3, "Placebo")) Placebo();
if (FDispMenu(4, "Dance!")) Chop(10);
if (FDispMenu(5, "Calibrate Soft")) CalibrateSoft();
if (FDispMenu(6, "Calibrate Hard")) CalibrateHard();
if (FDispMenu(7, "Speed Calibration")) CalibrateSpeed();
if (FDispMenu(8, "Lookdown Test")) LookdownTest();
if (FDispMenu(9, "Orientation")) Orient();
if (FDispMenu(10, "Straight 1000")) Move(1000,1000);
if (FDispMenu(11, "Left 90 Soft")) Soft(90, 1);
if (FDispMenu(12, "Left 90 Hard")) Hard(90);
if (FDispMenu(13, "Find Line")) FindLine();
if (FDispMenu(14, "Line Follow")) LineFollower();
if (FDispMenu(15, "Record"))
RecordMove(WSetting("Record move", 0, 9));
if (FDispMenu(16, "Playback"))
PlayMove(WSetting("Play move", 0, 9));
/* hbtest.c functions */
if (FDispMenu(17, "Servo Test")) ServoTest();
if (FDispMenu(18, "Calibrate Gate")) CalibrateGate();
if (FDispMenu(19, "Soft Turn Test")) SoftTest();
if (FDispMenu(20, "Hard Turn Test")) HardTest();
if (FDispMenu(21, "Spin Test!")) Spinner();
if (FDispMenu(22, "Shake Test!")) Shaker();
if (FDispMenu(23, "Bump Test")) BumpTest();
if (FDispMenu(24, "Test Motors")) testmotors();
if (FDispMenu(25, "Test Digitals")) testdigitals();
if (FDispMenu(26, "Test Analogs")) testanalogs();
if (FDispMenu(27, "Assert Enable")) AssertEnable();
}
}
bool replay_ui_has_all_buttons() {
return play_button() && stop_button() && reset_button() &&
play_turn_button() && play_side_button();
}
void Move(int cLMax, int cRMax)
{
int sL;
int sR;
float tL;
float tR;
float tMax;
int sLSet;
int sRSet;
long ms;
long msLimit;
printf("Move: %d, %d\n", cLMax, cRMax);
if (fAssertEnable)
StartPress();
msLimit = mseconds() + 2000L;
InitEncoders();
if (cLMax < 0)
{
cLMax = -cLMax;
sL = -pwrMax;
}
else
sL = pwrMax;
if (cRMax < 0)
{
cRMax = -cRMax;
sR = -pwrMax;
}
else
sR = pwrMax;
while (cL < cLMax || cR < cRMax)
{
if (stop_button())
break;
ReadEncoders();
if (FBallCapture())
break;
if (fStalled || fBlocked)
{
if (!fForce)
{
beep();beep();beep();
printf("Abort Move\n");
break;
}
ms = mseconds();
if (ms >= msLimit)
{
beep();beep();beep();
printf("Time out\n");
break;
}
}
if (cL >= cLMax)
sL = 0;
if (cR >= cRMax)
sR = 0;
/* printf("L: %d, R: %d\n", cL, cR); */
tL = Parametric(cL, cLMax);
tR = Parametric(cR, cRMax);
sRSet = sR;
sLSet = sL;
/* BUG: Can need less than 3/4 speed - also need not retart balanced
motors when both can track the same! */
if (tL > tR)
sLSet = sL*3/4;
else
sRSet = sR*3/4;
SetMotors(sLSet, sRSet);
}
SetMotors(0,0);
}
void stop_press()
{
while (!stop_button());
while (stop_button());
beep();
}
