/*******************************************************************
* Function: int waitButton(void)
* Input Variables: none
* Output Return: int
* Overview: Use a comment block like this before functions
********************************************************************/
int WaitButton( void )
{
BOOL btnState1, btnState2, btnState3;//local variables - button states
//int rtnValue=0;//return the button value
int rtnValue=0;
LCD_clear();
if((ATopstat.state=SUBSYS_OPEN))
{
// Get switch states.
btnState1 = ATTINY_get_SW_state( ATTINY_SW3 );
btnState2 = ATTINY_get_SW_state( ATTINY_SW4 );
btnState3 = ATTINY_get_SW_state( ATTINY_SW5 );
//LCD_printf("btnStates: %d %d %d \n", btnState1, btnState2, btnState3);
if( btnState1 == TRUE )
{
LCD_printf( "SW1: Pushed\n");
// TMRSRVC_delay(500);//wait 1 s
// Assume the LED subsystem opened successfully.
LED_set_pattern( 0b00100000 );//turn the red LED on
TMRSRVC_delay(500);//wait 2 seconds
LED_clr_pattern( 0b01000000 );//turn the green LED off
LED_clr_pattern( 0b00100000 );//turn the red LED off
rtnValue=1;
}//end if button 1 state open
if( btnState2 == TRUE )
{
LCD_printf( "SW2: Pushed\n");
// TMRSRVC_delay(500);//wait 1 s
// Assume the LED subsystem opened successfully.
LED_set_pattern( 0b01000000 );//turn the green LED on
TMRSRVC_delay(500);//wait 2 seconds
LED_clr_pattern( 0b01000000 );//turn the green LED off
LED_clr_pattern( 0b00100000 );//turn the red LED off
rtnValue=2;
}//end if btn 2 open
if ( btnState3 == TRUE )
{
LCD_printf( "SW3: Pushed\n");
// TMRSRVC_delay(500);//wait 1 s
// Assume the LED subsystem opened successfully.
LED_set_pattern( 0b01000000 );//turn the green LED on
LED_set_pattern( 0b00100000 );//turn the red LED on
TMRSRVC_delay(500);//wait 2 seconds
LED_clr_pattern( 0b01000000 );//turn the green LED off
LED_clr_pattern( 0b00100000 );//turn the red LED off
rtnValue=3;
}//end if btn 3 open
LCD_clear();
return rtnValue;
}//end AT while
}//end the WaitButton() function
/*******************************************************************
* Function: int EnterCommandButton(void)
* Input Variables: none
* Output Return: int
* Overview: Use a comment block like this before functions
********************************************************************/
int EnterTopoCommand( void )
{
BOOL btnState1, btnState2, btnState3;//local variables - button states
//int rtnValue=0;//return the button value
int rtnValue=0;
if((ATopstat.state=SUBSYS_OPEN))
{
// Get switch states.
btnState1 = ATTINY_get_SW_state( ATTINY_SW3 );
btnState2 = ATTINY_get_SW_state( ATTINY_SW4 );
btnState3 = ATTINY_get_SW_state( ATTINY_SW5 );
//LCD_printf("btnStates: %d %d %d \n", btnState1, btnState2, btnState3);
if( btnState1 == TRUE )
{
rtnValue=1;
}//end if button 1 state open
if( btnState2 == TRUE )
{
rtnValue=2;
}//end if btn 2 open
if ( btnState3 == TRUE )
{
rtnValue=3;
}//end if btn 3 open
return rtnValue;
}//end AT while
}//end the WaitButton() function
void CBOT_main(void)
{
STEPPER_open(); // Enables control of the steppers
ATTINY_open(); // Enables reading of the buttons
SPKR_open(SPKR_BEEP_MODE); //enables beeping
LCD_open(); // Enables use of the LCD
ADC_open();//open the ADC module
while(1)
{
if(ATTINY_get_SW_state(ATTINY_SW3))
{
smartGoToGoal(4,4);
}
if(ATTINY_get_SW_state(ATTINY_SW4))
{
wander('a');
}
if (ATTINY_get_SW_state(ATTINY_SW5))
{
char wall = 'l';
while(wall=='l'){
wall = wallFollow('l',4,5,10);
}
}
//TODO:: Please write your application code
}
}
void wander(char type)
{
if(type == 'a')
{
while(1){
char robostate='w';
updateLCD();
while (robostate=='w')
{
robostate = aggressiveKid(1,6,3);
getIR();
updateLCD();
TMRSRVC_delay(100);
}
LCD_clear();
LCD_printf("Reason for Stop: %c",robostate);
if(ATTINY_get_SW_state(ATTINY_SW3))
break;
}
}
if(type=='s')
{
while(1){
char robostate='w';
updateLCD();
while (robostate=='w')
{
robostate = shyGuy(1,7,4,4,6);
getIR();
updateLCD();
TMRSRVC_delay(100);
}
LCD_clear();
LCD_printf("Reason for Stop: %c",robostate);
if(ATTINY_get_SW_state(ATTINY_SW3))
break;
}
}
}
void levelZero(char type,float frontDist)
{
if(type == 'a')
{
while(1){
char robostate='w';
updateLCD();
while (robostate=='w')
{
robostate = aggressiveKid(0,6,3);
getIR();
updateLCD();
TMRSRVC_delay(100);
}
LCD_clear();
LCD_printf("Reason for Stop: %c",robostate);
if(ATTINY_get_SW_state(ATTINY_SW3))
break;
}
}
}