// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
turnOnPowerButtonLight();
delayMs(20);
// Infinite operation loop
int timerLoop = 0;
const int timerLimit = 15;
initializeUSBBuffer();
initializeRobotBuffer();
initializeSensorArray();
setLEDs(BOTHLED, FULL);
enableReports();
enableSensors();
while(1) {
pollSensors();
if(timerLoop == timerLimit){
compileReport();
sendUSBBuffer();
timerLoop = 0;
delayMs(1);
}
timerLoop++;
pollRemoteSensors();
pollRemote();
executeCommand();
delayMs(5);
}
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
delayMs(20);
initializeUSBBuffer();
initializeRobotBuffer();
initializeSensorArray();
setLEDs(BOTHLED, FULL);
enableReports();
enableSensors();
int fakeTimer = 0;
// Infinite operation loop
while(1) {
if (fakeTimer == 4) {
compileReport();
sendUSBBuffer();
fakeTimer = 0;
}
pollSensors();
delayMs(250);
fakeTimer++;
}
}
int main() {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// CSCE 274 students: I would make sure the robot stops.
// As a precaution for the robot and your grade.
//Doesn't need to stop for task 1 since it doesn't move.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something. I like red, but here is green.
// CSCE 274 students: The following should (will) be a function that you write.
changePowerLightRed(); //power light now red
// Initialize global variables
uint8_t bumpbyte, bumpLeft, bumpRight;
int rightLEDonInt = 0;
int leftLEDonInt = 1;
//call initial functions
//setup LEDs
setupRightLED();
setupLeftLED();
leftLEDon(); //start with left LED on
// Infinite operation loop
for(;;) {
while (!bumpRight && !bumpLeft) { //no bumps
//no bumps are rightLED on
if (rightLEDonInt == 1 && leftLEDonInt == 0 && !bumpRight && !bumpLeft) {
rightLEDoff();
rightLEDonInt = 0;
leftLEDon();
leftLEDonInt = 1;
} //no bumps and left LED on
else if (rightLEDonInt == 0 && leftLEDonInt == 1 && !bumpRight && !bumpLeft) {
rightLEDon();
rightLEDonInt = 1;
leftLEDoff();
leftLEDonInt = 0;
} //no bumps and LEDs off
else if (rightLEDonInt == 0 && leftLEDonInt == 0 && !bumpRight && !bumpLeft) {
rightLEDon();
rightLEDonInt = 1;
}//no bumps and both LEDs on
else if (rightLEDonInt == 1 && leftLEDonInt == 1 && !bumpRight && !bumpLeft) {
leftLEDon();
leftLEDonInt = 1;
}
delayMs(100); //delay for tenth of a second
//update bump sensors
byteTx(CmdSensors);
byteTx(SenOverC);
bumpbyte = byteRx();
bumpRight = bumpbyte & (1 << 0);
bumpLeft = bumpbyte & (1 << 1);
}
//update bump sensors again
byteTx(CmdSensors);
byteTx(SenOverC);
bumpbyte = byteRx();
bumpRight = bumpbyte & (1 << 0);
bumpLeft = bumpbyte & (1 << 1);
//turn on LEDs according to bump sensors
if (bumpRight) {
rightLEDon();
rightLEDonInt = 1;
} else {
rightLEDoff();
rightLEDonInt = 0;
}
if (bumpLeft) {
leftLEDon();
leftLEDonInt = 1;
} else {
leftLEDoff();
leftLEDonInt = 0;
}
delayMs(10);
if(UserButtonPressed) {
powerOffRobot();
exit(1);
}
}
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
initializeSensors(); // Sets up sensors.
delayMs(200); // Gives the robot time to process.
allowDriving(); // Enables Driving.
enableOrders(); // Enables driveOrders()
initializePlanner(); // Sets up the planner.
decidePlanState(); // Decide on an initial state of the planner.
disableIntegral(); // Integral term only used for state MAKETURN.
//int16_t speed = DRIVESPEED; // Standard speed.
delayMs(500); // Gives the robot time to process all of the above before continuing.
// Infinite operation loop
while(1) {
compileSensors(); // Build the sensor Struct. Automatic Polling.
decidePlanState();
delayMs(50); // The above operations are time-consuming, so wait.
switch (getPlanState()) {
case FINDWALL:
debugLEDOff();
delayMs(10);
break;
case REPOSITION:
buildInfrared();
buoyLights();
doDocking();
break;
case STOP:
driveOrders(0, 0, 50);
debugLEDOff();
delayMs(10);
break;
default:
debugLEDOff(); // Turn on the lights.
delayMs(10);
break;
}
}
}
int main (void)
{
uint8_t leds_cnt = 99;
uint8_t leds_state = 0;
uint8_t leds_on = 1;
int16_t turn_angle = 0;
uint8_t turn_dir = 1;
uint8_t turning = 0;
uint8_t backing_up = 0;
// Set up Create and module
initialize();
LEDBothOff;
powerOnRobot();
byteTx(CmdStart);
baud(Baud28800);
defineSongs();
byteTx(CmdControl);
byteTx(CmdFull);
// Stop just as a precaution
patrol_room(0, RadStraight);
// Play the reset song and wait while it plays
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayAndUpdateSensors(750);
for(;;)
{
if(++leds_cnt >= 100)
{
leds_cnt = 0;
leds_on = !leds_on;
if(leds_on)
{
byteTx(CmdLeds);
byteTx(LEDsBoth);
byteTx(128);
byteTx(255);
LEDBothOff;
}
else
{
byteTx(CmdLeds);
byteTx(0x00);
byteTx(0);
byteTx(0);
LEDBothOn;
}
}
delayAndUpdateSensors(10);
if(UserButtonPressed)
{
// Play start song and wait
byteTx(CmdPlay);
byteTx(START_SONG);
delayAndUpdateSensors(2813);
// Drive around until a button or unsafe condition is detected
while(!(UserButtonPressed)
&& (!sensors[SenCliffL])
&& (!sensors[SenCliffFL])
&& (!sensors[SenCliffFR])
&& (!sensors[SenCliffR])
&& (!sensors[SenChAvailable])
)
{
// Keep turning until the specified angle is reached
if(turning)
{
if(backing_up)
{
if((-distance) > 5)
backing_up = 0;
patrol_room(-200, RadStraight);
}
else
{
if(turn_dir)
{
if(angle > turn_angle)
turning = 0;
patrol_room(200, RadCCW);
}
else
{
if((-angle) > turn_angle)
turning = 0;
patrol_room(200, RadCW);
}
}
}
else if(sensors[SenBumpDrop] & BumpEither) // Check for a bump
{
// Set the turn parameters and reset the angle
if(sensors[SenBumpDrop] & BumpLeft)
turn_dir = 0;
else
turn_dir = 1;
backing_up = 1;
turning = 1;
distance = 0;
angle = 0;
turn_angle = randomAngle();
// Play the bump song
byteTx(CmdPlay);
byteTx(BUMP_SONG);
}
else
{
// Otherwise, patrol_room straight
patrol_room(300, RadStraight);
}
// Flash the leds in sequence
if(++leds_cnt >= 10)
{
leds_cnt = 0;
if(turning)
{
// Flash backward while turning
if(leds_state == 0)
leds_state = 4;
else
leds_state--;
}
else
{
if(leds_state == 4)
leds_state = 0;
else
leds_state++;
}
if(leds_state == 0)
{
// robot Power LED Amber
byteTx(CmdLeds);
byteTx(0x00);
byteTx(128);
byteTx(255);
LEDBothOff;
}
else if(leds_state == 1)
{
// Play LED on
byteTx(CmdLeds);
byteTx(LEDPlay);
byteTx(0);
byteTx(0);
LEDBothOff;
}
else if(leds_state == 2)
{
// Advance LED on
byteTx(CmdLeds);
byteTx(LEDAdvance);
byteTx(0);
byteTx(0);
LEDBothOff;
}
else if(leds_state == 3)
{
// Robot LEDs off, CM left LED on
byteTx(CmdLeds);
byteTx(0x00);
byteTx(0);
byteTx(0);
LED2On;
LED1Off;
}
else if(leds_state == 4)
{
// Robot LEDs off, CM right LED on
byteTx(CmdLeds);
byteTx(0x00);
byteTx(0);
byteTx(0);
LED1On;
LED2Off;
}
}
// wait a little more than one robot tick for sensors to update
delayAndUpdateSensors(20);
}
// Stop driving
patrol_room(0, RadStraight);
// Play end song and wait
delayAndUpdateSensors(500);
byteTx(CmdPlay);
byteTx(END_SONG);
delayAndUpdateSensors(2438);
}
}
}
