/*=============================================================================
* MENU STUFF
*/
static bool MENUinput(boxC& b)
{
switch(inputK()) {
case 27: exit(0); break;
case 32: BLOrelo(); break;
case 'a': displayRotate(0.0, -5.0, 0.0); break;
case 'd': displayRotate(0.0, +5.0, 0.0); break;
case 'w': displayRotate(+5.0, 0.0, 0.0); break;
case 's': displayRotate(-5.0, 0.0, 0.0); break;
case 'q': displayRotate( 0.0, 0.0,+5.0); break;
case 'e': displayRotate( 0.0, 0.0,-5.0); break;
case 'z': BLOcolor(+1); break;
case 'x': BLOcolor(-1); break;
case '+': displaySpeed(+1); break;
case '-': displaySpeed(-1); break;
// case '.': displaySwitchMode(); break;
case 'm': BLOunit(+1); break;
case 'n': BLOunit(-1); break;
case 'r': BLOske(0, +5.0); break;
case 'f': BLOske(0, -5.0); break;
case 't': BLOske(1, +5.0); break;
case 'g': BLOske(1, -5.0); break;
case 'y': BLOske(2, +5.0); break;
case 'h': BLOske(2, -5.0); break;
case 'u': BLOske(3, +5.0); break;
case 'j': BLOske(3, -5.0); break;
case 'i': BLOske(4, +5.0); break;
case 'k': BLOske(4, -5.0); break;
case 'o': BLOske(5, +5.0); break;
case 'l': BLOske(5, -5.0); break;
default: break;
}
switch(inputE()) {
/* case GLUT_KEY_UP: visualScroll( 0.0, +sp); break;
case GLUT_KEY_DOWN: visualScroll( 0.0, -sp); break;
case GLUT_KEY_LEFT: visualScroll( -sp, 0.0); break;
case GLUT_KEY_RIGHT:visualScroll( +sp, 0.0); break;*/
// case GLUT_KEY_F1: quadSwitchSurfaceMode(); break;
// case GLUT_KEY_F2: quadSwitchWireMode(); break;
default: break;
}
// buttons
/* bt_t *a;
if(key) if(a = guiBtKey(MENUbtset, key)) a->call(a);
if(a = guiBtMouse(MENUbtset, guiMouseX(), guiMouseY()))
if(a->call) a->call(a);
*/
}
void startUp ()
{
display(-2);
displaySpeed(1,0);
setSpeed(1,0);
_delay_ms(5);
display(-1);
_delay_ms(5);
for (int i = 1; i < 5; i++)
{
display(-2);
displaySpeed(i,1);
setSpeed(i,1);
_delay_ms(5);
display(-1);
_delay_ms(5);
}
for (int i = 4; i > 0; i--)
{
display(-2);
displaySpeed(i,1);
setSpeed(i,1);
_delay_ms(5);
display(-1);
_delay_ms(5);
}
}
int main(void)
{
init();
startUp();
for (int i = 1; i < 4; i++) LEEnabel(i);
while (1)
{
fireMode = getFireMode();
newMagSize = getMag(); //save the Mag size
if(newMagSize == -1)
{
newMag = 0; //Mag-slot empty
ammoCounter = -1;
}
if(((newMag == 0) & !(newMagSize == -1))) //Mag-slot not empty anymore
{
ammoCounter = newMagSize;
newMag = 1;
}
if(adcOn == 0) display(ammoCounter);
if(adcOn == 1)
{
volt |= (ADCL);
volt |= (ADCH << 8);
volt = volt *15;
volt = volt /1023;
display(volt);
}
displaySpeed(speed, motorOn);
setSpeed(speed, motorOn);
}
}
/*
* Leer velocidad. Esta tarea recive como parámetros dos buffers, el primero
* lo usa para escribir el contenido de la request. El segundo lo hace
* para guardar la respuesta del servidor de comunicaciones.
*
* Esta funcion devuelve la velocidad actual de la carreta o -1.0 si obtuvo un error
*/
float read_speed(char * request_buf, char * answer_buf) {
strcpy(request_buf,"SPD: REQ\n");
wr_arduino(request_buf, answer_buf);
if (1 == sscanf (answer_buf,"SPD:%f\n",&CURRENT_SPEED)) {
displaySpeed(CURRENT_SPEED);
} else {
CURRENT_SPEED = -1.0; //Server returned error
} //TODO remove this for final version
return CURRENT_SPEED;
}
void lightDisplay(void) {
int i;
clearStates();
displaySpeed();
displayDirection();
_delay_ms(1000);
for (i = 0; i < 8; i++) {
dir[i] = ON;
if (i < 6) {
spd[i] = ON;
if (i < 4) {
ctrl[i] = ON;
}
}
displaySpeed();
displayDirection();
_delay_ms(1000);
}
}
void toggleDisplay(){
int temp = displayMode + 1;
temp = temp % 3;
displayMode = temp;
clearDisplay();
if(displayMode == 0){
displaySpeed();
}else if(displayMode == 1){
displayDistance();
}else if(displayMode == 2){
displayTime();
}
}
void displayCalculations(){
switch(displayMode){
case 0:
displaySpeed();
break;
case 1:
displayDistance();
break;
case 2:
displayTime();
break;
default:
displayNumbers(-1,-1,-1,-1);
break;
}
}
int main(void) {
//setup USART recive
UCSR0B = (1<<RXEN0);
UCSR0C = (1<<UCSZ00) | (1<<UCSZ01);
UBRR0 = 25; // 25 = 2400 baud; 6 = 9600 baud
/* Set pins as output, high->output, low->input */
DDRA = 0xFF; /* Pin for LED out */
DDRB = 0xFF; /* Pin for LED out */
DDRC = 0xFF; /* Pin for LED out */
DDRD = 0xFE; /* Pin for LED out */
unsigned char input;
unsigned char value;
unsigned char control;
PORTA = 0xFF;
PORTB = 0xFF;
PORTC = 0xFF;
PORTD = 0xFF;
_delay_ms(1000);
/*
while (1){
clearStates();
lightDisplay();
}*/
/*
int i = 0;
unsigned int states[4] = {0x27, 0xA0, 0x56, 0xD4}; */
/*
while (1) {
unsigned char in = USART_Receive();
for (int i = 0; i < 8; i++) {
dir[i] = (in>>(7-i))&0x1;
}
displayDirection();
}
*/
while(1) {
//clearStates();
input = USART_Receive();
//input = 0x27;
/* _delay_ms(2000);
input = states[i];
i++;
i = i%4;*/
control = input & CTRL_MSK;
if (input & CMD_BIT) {
ctrl[LONG_SIP] = control == LONG_SIP ? ON : OFF;
ctrl[LONG_PUFF] = control == LONG_PUFF ? ON : OFF;
ctrl[SIP] = control == SIP || ctrl[LONG_SIP] ? ON : OFF;
ctrl[PUFF] = control == PUFF || ctrl[LONG_PUFF] ? ON : OFF;
} else {
clearCtrl();
}
value = (input&VAL_MSK) >> 3;
if (input & SPD_BIT) { //SPEED
clearSpeed();
if (input & NEG_BIT) { //REVERSE
spd[0] = ON;
}
else { //FORWARD
switch (value) {
default:
case 4:
spd[4+SPD_OFFSET] = ON;
case 3:
spd[3+SPD_OFFSET] = ON;
case 2:
spd[2+SPD_OFFSET] = ON;
case 1:
spd[1+SPD_OFFSET] = ON;
break;
case 0:
spd[0+SPD_OFFSET] = ON;
break;
}
}
displaySpeed();
}
else { //DIRECTION
clearDir();
if (input & NEG_BIT) { //LEFT
switch (value) {
default:
case 4:
dir[DIR_OFFSET+1-4] = ON;
case 3:
dir[DIR_OFFSET+1-3] = ON;
case 2:
dir[DIR_OFFSET+1-2] = ON;
case 1:
dir[DIR_OFFSET+1-1] = ON;
break;
case 0:
break;
}
}
else { //RIGHT
switch (value) {
default:
case 4:
dir[4+DIR_OFFSET] = ON;
case 3:
dir[3+DIR_OFFSET] = ON;
case 2:
dir[2+DIR_OFFSET] = ON;
case 1:
dir[1+DIR_OFFSET] = ON;
break;
case 0:
break;
}
}
displayDirection();
}
}
return 0;
}
