void checksignal(){
tft_clear();
if (read_GPIO_switch(GPIOA,GPIO_Pin_9)){
tft_prints(2,2,"Pin 9 receive signal");
tft_update();
LED_ON(GPIOB,LED_L);
}
if (read_GPIO_switch(GPIOA,GPIO_Pin_10)){
tft_prints(2,2,"Pin 10 receive signal");
tft_update();
LED_ON(GPIOB,LED_M);
}
if (read_GPIO_switch(GPIOA,GPIO_Pin_11)){
tft_prints(2,2,"Pin 11 receive signal");
tft_update();
LED_ON(GPIOA,LED_R);
}
if (read_GPIO_switch(GPIOA,GPIO_Pin_12)){
tft_prints(2,2,"Pin 12 receive signal");
tft_update();
}
if (!read_GPIO_switch(GPIOA,GPIO_Pin_12) && !read_GPIO_switch(GPIOA,GPIO_Pin_11) && !read_GPIO_switch(GPIOA,GPIO_Pin_11) && !read_GPIO_switch(GPIOA,GPIO_Pin_12)){
tft_prints(2,2,"no signal received");
tft_update();
}
}
void listener(const uint8_t byte) {
switch(byte) {
case 'w':
tft_prints(1,1,"Yay Forward LA");
tft_update();
motor_control(1,1,100);
motor_control(2,1,100);
_delay_ms(delay_time);
motor_control(1, 1, 0);
motor_control(2, 1, 0);
break;
case 'a':
tft_prints(1,1,"Yay Left LA");
tft_update();
motor_control(1, 1, 0);
motor_control(2, 1, 100);
_delay_ms(delay_time);
motor_control(1, 1, 0);
motor_control(2, 1, 0);
break;
case 'd':
tft_prints(1, 1, "Yay Right LA");
tft_update();
motor_control(1,1,100);
motor_control(2,1,0);
_delay_ms(delay_time);
motor_control(1, 1, 0);
motor_control(2, 1, 0);
break;
case 's':
tft_prints(1, 1, "Yay Stop La");
tft_update();
motor_control(1, 1, 0);
motor_control(2, 1, 0);
//stop_while = 0;
break;
case 'b':
stop_while = 1;
break;
default:
tft_prints(1, 1, "default la");
break;
}
}
void linear_ccd_prints()
{ int y ;
int x ;
for(x=0;x<=127;x++)
{y= linear_ccd_buffer1[x];
tft_put_pixel(x,y, BLACK);}
tft_prints(2,4,"%d",find_white_line());
tft_update();
}
void main()
{
system_init();
EnableInterrupts();
while( 1 )
{
if( update_flag )
tft_update();
}
}
void turnn(int x){
if (x>0 && x<20){
motor_control(1, 0, 0); //left motor
motor_control(2, 0, 100); //right motor
tft_prints(5,5,"Turn left");
tft_update();
}else if(x>20 && x<40){
motor_control(1, 0, 0);
motor_control(2, 0, 75);
tft_prints(5,5,"Turn left");
tft_update();
}else if(x>40 && x<54){
motor_control(1, 0, 0);
motor_control(2, 0, 70);
tft_prints(5,5,"Turn left");
tft_update();
}
if(x>74 && x<100){
motor_control(1, 0, 100); //left motor
motor_control(2, 0, 0);
tft_prints(5,5,"Turn right");
tft_update();
}else if(x<100 && x>120){
motor_control(1,0, 75);
motor_control(2,0, 0);
tft_prints(5,5,"Turn right");
tft_update();
}else if (x>120){
motor_control(1,0,70);
motor_control(2,0, 0);
tft_prints(5,5,"Turn right");
tft_update();
}
}
/*int main()
{
LED_INIT();
uart_init(COM3, 115200);
//uart_interrupt_init(COM3, &listener);
tft_init(0, WHITE, BLACK, GREEN);
button_init();
ticks_init();
motor_init();
pneumatic_init();
int count = 0;
tft_init(0, WHITE, BLACK, GREEN);
linear_ccd_init();
adc_init();
while(true) {
if(count != get_ms_ticks()){
count = get_ms_ticks();
if(count % 40 == 0){
linear_ccd_clear();
linear_ccd_read();
linear_ccd_prints();
if(find_white_line() != 0) {
tft_prints(2, 1, "%3d", find_white_line());
tft_update();
}
if(find_white_line() < 50) {
motor_control(1,0,100);
}
else {
motor_control(1,0,0);
}
//tft_update();
}
}
}
return 0;
}*/
int main() {
tft_init(0,WHITE,BLACK,RED);
linear_ccd_init();
ticks_init();
GPIO_switch_init();
pneumatic_init();
button_init();
LED_INIT();
motor_init();
uart_init(COM3, 115200);
uart_interrupt_init(COM3,&listener);
while(true) {
//listener(const uint8_t byte);
tft_clear();
tft_prints(2,4,"okay la") ;
tft_update();
while(!read_button(1))
{ LED_ON(GPIOB, LED_M);
motor_control(1,1,100);
}
/*if(read_GPIO_switch(GPIOA,GPIO_Pin_9)==1&&!read_button(1))
{ tft_clear();
tft_prints(2,4,"grip");
tft_update();*/
/*pneumatic_control(GPIOB,GPIO_Pin_13,1);}
else
{ tft_clear();
tft_prints(2,4,"let it go~");
tft_update();
pneumatic_control(GPIOB,GPIO_Pin_13,0);}*/
int time = get_ms_ticks();
if(time%40==0)
{
linear_ccd_clear();
linear_ccd_read();
linear_ccd_prints();
}
//turnn(find_white_line());
}
}
/**
* @brief Display the menu (to be called directly, while-loop in side)
* @param default_id: Default selected / entered menu ID
* @param pre_enter: True for enterring the selected menu item
* @retval None
*/
void menu(u8 default_id, bool pre_enter)
{
menu_selected = default_id;
while (1) {
if (ticks_img != get_ticks()) {
ticks_img = get_ticks();
/*if (ticks_img % 200 == 1) {
battery_adc_update();
if (get_seconds() % 10 == 4 && ticks_img == 1) {
battery_regular_check();
}
}*/
// if (ticks_img % 50 == 2) {
// // Check button input
// //button_update();
//
// /** Menu item shift **/
// if (button_pressed(BUTTON_JS2_DOWN) == 1 || button_hold(BUTTON_JS2_DOWN, 10, 1)) {
// // Go down the list
// if (menu_selected < menu_count - 1) {
// ++menu_selected;
// } else {
// menu_selected = 0;
// }
// } else if (button_pressed(BUTTON_JS2_UP) == 1 || button_hold(BUTTON_JS2_UP, 10, 1)) {
// if (menu_selected > 0) {
// --menu_selected;
// } else {
// menu_selected = menu_count - 1;
// }
// }
//
// /** Enter menu **/
// if (button_pressed(BUTTON_JS2_CENTER) == 1 || pre_enter) {
// if (menu_list[menu_selected].fx == 0) {
// // NULL FUNCTION
// buzzer_play_song(FAIL_SOUND, 120, 100);
// } else {
// u16 prev_bg_color = tft_get_bg_color();
// u16 prev_text_color = tft_get_text_color();
// tft_clear();
// CLICK_MUSIC;
// menu_list[menu_selected].fx();
// CLICK_MUSIC;
// tft_clear();
// tft_set_bg_color(prev_bg_color);
// tft_set_text_color(prev_text_color);
// pre_enter = false;
// }
// }
// /** Change screen orientation **/
//
// if (button_pressed(BUTTON_1) == 1) {
// tft_set_orientation((tft_get_orientation() + 1) % 4);
// SUCCESSFUL_MUSIC;
// }
// if (button_pressed(BUTTON_2) == 1) {
// tft_set_orientation((tft_get_orientation() + 3) % 4);
// SUCCESSFUL_MUSIC;
// }
// }
if (ticks_img % 50 == 7) {
u16 prev_bg_color = tft_get_bg_color();
u16 prev_text_color = tft_get_text_color();
tft_clear();
draw_top_bar();
// Menu list
const u8 items_per_page = tft_get_max_y_char() - 2;
u8 page_count = menu_count ? (menu_count - 1) / items_per_page : 0; // Start from 0
u8 current_page = menu_selected / items_per_page; // Start from 0
for (u8 i = 0 + current_page * items_per_page, y = 0; i < menu_count && y < items_per_page; ++i, ++y) {
if (i == menu_selected) {
// Highlight the selected item
tft_set_bg_color(ticks_img < 500 ? BLACK : DARK_GREY);
tft_clear_line(y+1);
tft_set_text_color(WHITE);
} else {
tft_set_bg_color(WHITE);
tft_clear_line(y+1);
tft_set_text_color(BLACK);
}
tft_prints(1, y+1, "%s", menu_list[i].title);
}
// Bottom bar - page number
tft_set_text_color(WHITE);
tft_set_bg_color(BLUE2);
tft_clear_line(tft_get_max_y_char()-1);
tft_prints(1, tft_get_max_y_char()-1, "%d/%d", current_page + 1, page_count + 1);
// Reset bg and text color
tft_set_bg_color(prev_bg_color);
tft_set_text_color(prev_text_color);
tft_update();
}
}
}
}
/**
* @brief System start interface display (to be called directly, delay exists)
* @param duration: the delay time (in ms) of this function
* @retval None
*/
void system_start(u16 duration)
{
const char* title = "Robocon 2015 Min System 1.2";
//led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_ON);
tft_clear();
char tmp[CHAR_MAX_X-1] = "";
tft_clear();
tft_prints(1, 1, "[HKUST]");
tft_prints(1, 2, "[Robotics Team]");
strncpy(tmp, title, tft_get_max_x_char()-2);
tft_prints(1, 4, "%s", tmp);
if (strlen(title) >= tft_get_max_x_char()-2) {
strncpy(tmp, &title[tft_get_max_x_char()-2], tft_get_max_x_char()-2);
tft_prints(1, 5, "%s", tmp);
}
tft_update();
buzzer_play_song(START_UP, 120, 0);
// Start-up battery check
//battery_adc_update();
u16 prev_text_color = tft_get_text_color(); // Temp color change
// tft_prints(0, 8, " Level: %d.%02dV", get_voltage() / 100, get_voltage() % 100);
/*
switch(battery_check()) {
case BATTERY_USB:
case BATTERY_OKAY:
// DO NOTHING
buzzer_play_song(START_UP, 120, 0);
tft_set_text_color(DARK_GREEN);
tft_prints(0, 7, " Battery OK");
break;
case BATTERY_LOW:
buzzer_set_note_period(get_note_period(NOTE_E, 7));
tft_set_text_color(ORANGE);
buzzer_control(5, 100);
tft_prints(0, 7, " LOW BATTERY!");
break;
case BATTERY_SUPER_LOW:
buzzer_set_note_period(get_note_period(NOTE_C, 7));
tft_set_text_color(RED);
buzzer_control(10, 50);
tft_prints(0, 7, " NO BATTERY!");
tft_update();
while(1) {
delay_nms(200);
//led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_OFF);
tft_clear_line(7);
tft_update();
delay_nms(200);
//led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_ON);
tft_prints(0, 7, " NO BATTERY!");
tft_update();
}
}*/
tft_update();
// Reset bg and text color
tft_set_text_color(prev_text_color);
/*
for (u16 i = 0; i < duration / 4; ++i) {
_delay_ms(4);
button_update();
if (button_pressed(BUTTON_JS2_CENTER) == 1) {
break;
}
}
led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_OFF);
}
*/
/**
* @brief Regular battery check (to be called every 10 seconds)
* @param None
* @retval None.
* @warning Low battery will NOT go into while loop.
*/
/*
void battery_regular_check(void)
{
switch(battery_check()) {
case BATTERY_USB:
case BATTERY_OKAY:
// DO NOTHING
break;
case BATTERY_LOW:
buzzer_set_note_period(get_note_period(NOTE_E, 7));
buzzer_control(2, 100);
break;
case BATTERY_SUPER_LOW:
buzzer_set_note_period(get_note_period(NOTE_E, 7));
buzzer_control(6, 200);
break;
}
}
*/
/**
* @brief Draw the battery icon on the top right corner of the TFT LCD monitor
* @param batt: The battery level in voltage times 10 (122 for 12.2V)
* @retval None
*/
static void draw_battery_icon(u16 batt)
{
u8 pos = (tft_get_orientation() % 2 ? MAX_HEIGHT : MAX_WIDTH);
u16 batt_color = 0, batt_boundary = 0;
u16 batt_w = 0;
if (batt > BATTERY_USB_LEVEL / 10) {
tft_prints(tft_get_max_x_char()-7, 0, "%2d.%d", batt/10, batt%10);
batt_color = batt <= 114 ? RED : (batt <= 120 ? ORANGE : GREEN);
batt_boundary = batt <= 114 ? RED : WHITE;
} else {
tft_prints(tft_get_max_x_char()-7, 0, " USB");
batt_color = SKY_BLUE;
batt_boundary = WHITE;
batt = 126;
}
pos = (tft_get_orientation() % 2 ? MAX_HEIGHT : MAX_WIDTH);
/* Convert battery level (110 to 126) to the pixel range (0 to 13) */
batt_w = (batt > 126 ? 13 : batt < 110 ? 0 : (batt-110)*13/16);
for (u8 i = 0; i < 13; i++) {
for (u8 j = 0; j < 6; j++) {
tft_put_pixel(pos-19+i, 5+j, i < batt_w ? batt_color : DARK_GREY);
}
}
// Top and bottom line
for (u8 i = 0; i < 17; i++) {
tft_put_pixel(pos-21+i, 3, batt_boundary);
tft_put_pixel(pos-21+i, 12, batt_boundary);
}
// Left and right line
for (u8 i = 0; i < 8; i++) {
tft_put_pixel(pos-21, 4+i, batt_boundary);
tft_put_pixel(pos-5, 4+i, batt_boundary);
}
// The right extra lines
for (u8 i = 0; i < 6; i++) {
tft_put_pixel(pos-4, 5+i, batt_boundary);
tft_put_pixel(pos-3, 5+i, batt_boundary);
}
}