void OmniRobot::gamepadButton(int button, int pressed) { if (pressed == 0) return; switch (omniState) { case INIT_MODE: switch (button) { case 1: movementMode = ROTATE_MAX_MODE; break; case 2: movementMode = ROTATE_POINT_MODE; break; case 3: movementMode = ROTATE_MODE; break; case 5: movementMode = ANDROID_MODE; period = 10; break; } omniState = CONTROL_MODE; startControl(); break; case CONTROL_MODE: qDebug() << "INIT_MODE"; init(); omniState = INIT_MODE; brick.stop(); timer.stop(); disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl())); break; default: brick.stop(); timer.stop(); disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl())); } }
void startMozzi(int control_rate_hz) { setupMozziADC(); // you can use setupFastAnalogRead() with FASTER or FASTEST in setup() if desired (not for Teensy 3.1) // delay(200); // so AutoRange doesn't read 0 to start with startControl(control_rate_hz); #if (AUDIO_MODE == STANDARD) || (AUDIO_MODE == STANDARD_PLUS) startAudioStandard(); #elif (AUDIO_MODE == HIFI) startAudioHiFi(); #endif }
void startMozzi(int control_rate_hz) { setupMozziADC(); // you can use setupFastAnalogRead() with FASTER or FASTEST in setup() if desired (not for Teensy 3.1) // delay(200); // so AutoRange doesn't read 0 to start with startControl(control_rate_hz); #if (AUDIO_MODE == STANDARD) || (AUDIO_MODE == STANDARD_PLUS) || IS_STM32() // Sorry, this is really hacky. But on STM32 regular and HIFI audio modes are so similar to set up, that we do it all in one function. startAudioStandard(); #elif (AUDIO_MODE == HIFI) startAudioHiFi(); #endif }