int get_val(void) { int val = 0; button = -1; //high(26); //freqout(4, 100, 4000); //low(26); pause(250); while(1) { val *= 10; button = sirc_button(10); if(button == ENTER) { if(val > 500) val = 500; if(val < -500) val = -500; button = -1; break; } else if(button != -1) { high(26); freqout(4, 100, 4000); low(26); if(button >= 0 && button <= 9) val += button; pause(250); button = -1; } } low(26); return val; }
int main() // Main function { int a; sirc_setTimeout(1000); while(1) { a=sirc_button(3); if(a==16) { wav_play("ouch.wav"); pause(1000); } else if(a==17) { wav_play("no.wav"); pause(1000); } else if(a==18) { wav_play("meow.wav"); pause(1500); } else if(a==19) { wav_play("hello1.wav"); pause(1500); } } }
int main() // Main - execution begins! { xbee = fdserial_open(11, 10, 0, 9600); //dprint(xbee, "hello"); //dprint(xbee, "hello"); drive_speed(0,0); // Start servos/encoders cog drive_setRampStep(10); // Set ramping at 10 ticks/sec per 20 ms sirc_setTimeout(50); // Remote timeout = 50 ms //drive_feedback(0); dt = CLKFREQ/10; t = CNT; while(1) // Outer loop { int button = sirc_button(4); // check for remote key press // Motion responses - if key pressed, set wheel speeds if(button == 2) { if(!running) cogstart(&gofwd, NULL, fstack, sizeof fstack); } if(button == 8) { if(!running) cogstart(&gobkwd, NULL, bstack, sizeof bstack); } if(button == CH_UP)drive_rampStep(100, 100); // Left turn if(button == CH_DN)drive_rampStep(-100, -100); // Right turn if(button == VOL_DN)drive_rampStep(-100, 100); // Left turn if(button == VOL_UP)drive_rampStep(100, -100); // Right turn if(button == MUTE)drive_rampStep(0, 0); // Stop if(button == ENTER) { getTicks(); displayTicks(); } if(CNT - t > dt) { t+=dt; i++; getTicks(); if ( ticksLeftCalc != ticksLeftCalcOld || ticksRightCalc != ticksRightCalcOld || ticksLeft != ticksLeftOld || ticksRight != ticksRightOld ) { displayTicks(); } } } }
int main() // Main function { int a; sirc_setTimeout(1000); while(1) { a=sirc_button(3); if(a==16) high(3); else if(a==17) high(5); else if(a==18) high(4); else if(a==19) high(6); pause(100); } }
void set_mode(void) { button = -1; high(26); freqout(4, 100, 4000); pause(250); while(button == -1) { button = sirc_button(10); if(button != -1) freqout(4, 100, 4000); if(button >-1 && button < 10) { mode = button; break; } } low(26); }
int main() // Main function { int a; sirc_setTimeout(1000); while(1) { a=sirc_button(3); if(a==16) drive_speed(128,128); //Move forward else if(a==17) drive_speed(-128,-128); //Move backward else if(a==18) drive_goto(50,0); //Move Right else if(a==19) drive_goto(0,50); //Move left else if(a==20) drive_speed(0,0); //Stop moving pause(100); } }
int main(void) { //drive_pins(12, 13); sirc_setTimeout(60); simpleterm_close(); pause(100); term = fdserial_open(31, 30, 0, 115200); pause(100); drive_open(); while(1) { dprint(term, "%c", CLS); button = sirc_button(10); if(button == PWR) { set_mode(); } switch(mode) { case 0: switch(button) { case CH_UP: //drive_speed(100, 100); drive_speed(smul, smul); break; case CH_DN: //drive_speed(-100, -100); drive_speed(-smul, -smul); break; case VOL_DN: //drive_speed(-100, 100); drive_speed(-smul, smul); break; case VOL_UP: //drive_speed(100, -100); drive_speed(smul, -smul); break; default: //drive_speed(0, 0); drive_speed(0, 0); break; } break; case 1: for(int i = 0; i < 4; i++) { dist[i] = ping_cm(14+i); //dprint(term, "%d=%03d\n", i, dist[i]); pause(10); } speedL = 0; speedR = 0; if(dist[BACK] < 30) { speedL += 100; speedR += 100; } if(dist[FRONT] < 30) { speedL -= 100; speedR -= 100; } if(dist[LEFT] < 30) { if(speedL == 0) speedL -= 100; else if(speedL < 0) //speedR += 200; speedR += 50; else if(speedL > 0) //speedR -= 200; speedR -= 50; } if(dist[RIGHT] < 30) { if(speedR == 0) speedR -= 100; else if(speedR < 0) //speedL += 200; speedL += 50; else if(speedR > 0) //speedL -= 200; speedL -= 50; } drive_speed(speedL, speedR); pause(100); break; case 2: smul = 50; mode = 0; break; case 3: smul = 100; mode = 0; break; /* case 4: val = get_val(); dprint(term, "val = %d\n", val); pause(3000); break; */ } } }