int approachButton() {
e_set_led(5,0);
e_set_led(3,0);
e_set_speed_left(300);
e_set_speed_right(300);
while(e_get_calibrated_prox(S_FRONT_LEFT) < 3000 && e_get_calibrated_prox(S_FRONT_RIGHT) < 3000) {
if(e_get_calibrated_prox(S_RIGHT) > 200 && e_get_calibrated_prox(S_FRONT_RIGHT) < 200){
correctRobot();
return 0;
}
if(e_get_calibrated_prox(S_LEFT) > 200 && e_get_calibrated_prox(S_FRONT_LEFT) < 200){
correctRobot();
return 0;
}
}
unsigned int i;
unsigned int m;
for(i = 0 ; i < 10000 ; i++)
m = sqrt(i*100);
e_set_speed_left(-200);
e_set_speed_right(-200);
for(i = 0 ; i < 10000 ; i++)
m = sqrt(i*100);
e_set_speed_left(-200);
e_set_speed_right(200);
while(e_get_calibrated_prox(S_FRONT_RIGHT) > 0);
for(i = 0 ; i < 4000 ; i++)
m = sqrt(i*100);
e_set_speed_left(0);
e_set_speed_right(0);
keepFinding = 0;
}
void epuckPlayer()
{
//e_start_agendas_processing();
//e_init_motors();
//e_init_prox();
//e_init_uart1();
/* Must send anything here or it don't work. Is it a bug? */
e_send_uart1_char("epuckSide_v3.0", 14);
unsigned a,b;
/* Flash the LED's in a singular manner for show that this program is in
* epuck memory */
for(a=0; a<8; a++)
for(b=0; b<20000; b++)
e_set_led(a ,1); /* LED ON */
for(a=0; a<8; a++)
for(b=0; b<20000; b++)
e_set_led(a ,0); /* LED OFF */
char command;
while(1)
{
command = recv_char();
switch(command)
{
case 0x13:
recv_vel();
break;
case 0x14:
send_steps();
break;
case 0x16:
read_ir_sensors();
break;
case 0x15:
stop_motors();
break;
case 0x17:
read_camera();
break;
case 0x18:
set_LEDs();
break;
case 0x01:
sendVersion();
break;
case 0x02:
config_camera();
break;
}
}
}
void processaImagem() {
long avg = 0;
int hits = 0;
int i;
for(i = 0 ; i < buff_length ; i+=2) {
int r = buffer[i]&0xF8;
int g = (buffer[i]&0x07)<<5 | (buffer[i+1]&0xE0)>>3;
int b = (buffer[i+1]&0x1F)<<3;
if(r >= 90 && g <= 70 && b <= 70) {
avg+= i;
hits++;
}
}
if(hits > 0) {
avg = avg/hits/2;
if(hits > 0 && avg < 640/2)
e_set_led(5,1);
else
e_set_led(5,0);
if(hits > 0 && avg >= 640/2)
e_set_led(3,1);
else
e_set_led(3,0);
int distance = 640/2-avg;
if(distance > 15 || distance < -15) {
if(distance > 0) {
e_set_speed_left(-10);
e_set_speed_right(10);
} else {
e_set_speed_left(10);
e_set_speed_right(-10);
}
}else {
approachButton();
}
}else{
if(correctRight) {
e_set_speed_left(70);
e_set_speed_right(-70);
}else {
e_set_speed_left(-70);
e_set_speed_right(70);
}
}
}
/*! \brief The left LED are indicating the left side */
void left_led(void)
{
static unsigned char no_led = 0;
switch(no_led)
{
case 0: e_set_led(0, 2); e_set_led(4, 2); break;
case 1: e_set_led(7, 2); e_set_led(5, 2); break;
case 2: e_set_led(6, 2); break;
case 3: e_led_clear();
}
if(no_led < 3)
no_led++;
else
no_led = 0;
}
/*! \brief The right LED are indicating the right side */
void right_led(void)
{
static unsigned char no_led = 0;
switch(no_led)
{
case 0: e_set_led(0, 2); e_set_led(4, 2); break;
case 1: e_set_led(1, 2); e_set_led(3, 2); break;
case 2: e_set_led(2, 2); break;
case 3: e_led_clear();
}
if(no_led < 3)
no_led++;
else
no_led = 0;
}
void run_SensDispl() {
int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size;
int i;
unsigned long cam_light;
unsigned char *buf_ptr;
/*Cam default parameter*/
cam_mode=GREY_SCALE_MODE;
cam_width=20;
cam_heigth=20;
cam_zoom=8;
cam_size=cam_width*cam_heigth;
e_poxxxx_init_cam();
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
e_acc_calibr();
while (1) {
e_poxxxx_launch_capture(&buffer[0]); // start camera capture
e_led_clear();
e_set_body_led(0);
e_set_front_led(0);
if (e_get_micro_volume(0)>30 || e_get_micro_volume(1)>30 || e_get_micro_volume(2)>30)
e_set_body_led(1);
if (e_get_prox(0)>400)
e_set_led(0,1);
if (e_get_prox(1)>400)
e_set_led(1,1);
if (e_get_prox(2)>400)
e_set_led(2,1);
if (e_get_prox(3)>400)
e_set_led(3,1);
if (e_get_prox(4)>400)
e_set_led(4,1);
if (e_get_prox(5)>400)
e_set_led(5,1);
if (e_get_prox(6)>400)
e_set_led(6,1);
if (e_get_prox(7)>400)
e_set_led(7,1);
while(!e_poxxxx_is_img_ready()); // wait end of capture
cam_light=0;
buf_ptr=(unsigned char*)&buffer[0];
for (i=0; i<cam_size; i++) {
cam_light+=*buf_ptr;
buf_ptr++;
}
sprintf(buffer, "Cam light %lu\r\n", cam_light);
e_send_uart1_char(buffer, strlen(buffer));
if (cam_light>48000) // 20*20pixels*120grayValue
e_set_front_led(1);
wait(5000);
}
}
// *** behaviour insired by a dust cleaner
void run_DustCleaner() {
int i;
int sensor;
int leftwheel, rightwheel;
int spiral=100;
int weightleft[8] = {-10,-10,-5,0,0,5,10,10};
int weightright[8] = {10,10,5,0,0,-5,-10,-10};
while (1) {
e_led_clear();
e_set_body_led(0);
e_set_front_led(0);
if (e_get_prox(0)>600)
e_set_led(0,1);
if (e_get_prox(1)>600)
e_set_led(1,1);
if (e_get_prox(2)>600)
e_set_led(2,1);
if (e_get_prox(3)>600)
e_set_led(3,1);
if (e_get_prox(4)>600)
e_set_led(4,1);
if (e_get_prox(5)>600)
e_set_led(5,1);
if (e_get_prox(6)>600)
e_set_led(6,1);
if (e_get_prox(7)>600)
e_set_led(7,1);
if (e_get_prox(0)>600 || e_get_prox(1)>600 || e_get_prox(2)>600 ||
e_get_prox(5)>600 || e_get_prox(6)>600 || e_get_prox(7)>600 ){ // obstacle
e_set_body_led(1);
// *** avoid
leftwheel=200;
rightwheel=200;
for (i=0; i<8; i++) {
sensor=e_get_prox(i); //-sensorzero[i];
sprintf(buffer, "%d, ", sensor);
e_send_uart1_char(buffer, strlen(buffer));
leftwheel+=weightleft[i]*(sensor>>4);
rightwheel+=weightright[i]*(sensor>>4);
}
sprintf(buffer, "setspeed %d %d\r\n", leftwheel, rightwheel);
e_send_uart1_char(buffer, strlen(buffer));
if (leftwheel>800) {leftwheel=800;}
if (rightwheel>800) {rightwheel=800;}
if (leftwheel<-800) {leftwheel=-800;}
if (rightwheel<-800) {rightwheel=-800;}
e_set_speed_left(leftwheel);
e_set_speed_right(rightwheel);
} else { // spiral
void set_LEDs()
{
char ring, body_front;
ring = recv_char();
body_front = recv_char();
/* Each one of eight bits of "char ring" represents one of eight ring *
* LEDs in e-puck, the rightmost bit meaning the LED 0. With a bit being *
* true the LED will be on, with a bit being false the LED will be off. */
int led;
for(led = 0; led< RING_LED_NUMBER; led++)
{
if((ring&(0x01<<led))!=0)
{
e_set_led(led, LED_ON);
}
else
{
e_set_led(led, LED_OFF);
}
}
if((body_front & 0x01) != 0)
{
e_set_front_led(LED_ON);
}
else
{
e_set_front_led(LED_OFF);
}
if((body_front & 0x02) != 0)
{
e_set_body_led(LED_ON);
}
else
{
e_set_body_led(LED_OFF);
}
send_char(1);/* Send a char to signalize the end set LED operation. */
}
void readOrder() {
unsigned short c = receiveMessage();
if(c == WHEEL_LEFT || c == WHEEL_RIGHT) {
unsigned short finalSpeed = receiveMessage();
int intSpeed= ((int)finalSpeed) - 1000;
if(c == WHEEL_LEFT) {
speedLeft = intSpeed;
}else{
speedRight = intSpeed;
}
}else if(c == LED) {
c = receiveMessage();
if(c & LED0_SELECTOR) {
if(c & LED0_ON)
e_set_led(0,1);
else
e_set_led(0,0);
}
if(c & LED1_SELECTOR) {
if(c & LED1_ON)
e_set_led(1,1);
else
e_set_led(1,0);
}
if(c & LED2_SELECTOR) {
if(c & LED2_ON)
e_set_led(2,1);
else
e_set_led(2,0);
}
if(c & LED3_SELECTOR) {
if(c & LED3_ON)
e_set_led(3,1);
else
e_set_led(3,0);
}
} else if(c == B_STOP) {
speedLeft = 0;
speedRight = 0;
} else if(c == CAMERA) {
keepFinding = 1;
speedLeft = 0;
speedRight = 0;
}
}
void run_braitenberg() {
int i;
int sensor;
char buffer[80];
int leftwheel, rightwheel;
// Init sensors
e_init_port();
e_init_motors();
e_init_prox();
// Calibrate sensors
e_set_led(8, 1);
braitenberg_sensor_calibrate();
e_set_led(8, 0);
//
while (1) {
leftwheel=200;
rightwheel=200;
for (i=0; i<8; i++) {
sensor=e_get_prox(i)-braitenberg_sensorzero[i];
sprintf(buffer, "%d, ", sensor);
e_send_uart1_char(buffer, strlen(buffer));
leftwheel+=braitenberg_weightleft[i]*(sensor>>4);
rightwheel+=braitenberg_weightright[i]*(sensor>>4);
}
sprintf(buffer, "setspeed %d %d\r\n", leftwheel, rightwheel);
e_send_uart1_char(buffer, strlen(buffer));
if (leftwheel>800) {leftwheel=800;}
if (rightwheel>800) {rightwheel=800;}
if (leftwheel<-800) {leftwheel=-800;}
if (rightwheel<-800) {rightwheel=-800;}
e_set_speed_left(leftwheel);
e_set_speed_right(rightwheel);
wait(100000);
}
}
/*! \brief The leds go on from the front to the back
and go off from the front to the back, etc */
void flow_led(void)
{
static unsigned char no_led = 0;
switch(no_led)
{
case 0: e_set_led(0, 2); break;
case 1: e_set_led(1, 2); e_set_led(7, 2); break;
case 2: e_set_led(2, 2); e_set_led(6, 2); break;
case 3: e_set_led(3, 2); e_set_led(5, 2); break;
case 4: e_set_led(4, 2); break;
}
if(no_led < 4)
no_led++;
else
no_led = 0;
}
/*! \brief The K2000 effect */
void k2000_led(void)
{
static unsigned char no_led = 0;
static unsigned char right = 1;
if(no_led == 0 && right) {
no_led = 1; e_set_led(0, 0); e_set_led(no_led, 1); right = 0;
}
else if(no_led == 0 && !right) {
no_led = 7; e_set_led(0, 0); e_set_led(no_led, 1); right = 1;
}
else if(no_led == 7) {
no_led = 0; e_set_led(7, 0); e_set_led(no_led, 1);
}
else if(no_led == 1) {
no_led = 0; e_set_led(1, 0); e_set_led(no_led, 1);
}
}
/*! \brief One led is on and turn clockwise */
void snake_led(void)
{
static unsigned char no_led = 0;
if(no_led == 0)
{
e_set_led(7, 0);
e_set_led(no_led, 1);
no_led++;
}
else if(no_led == 7)
{
e_set_led(no_led-1, 0);
e_set_led(no_led, 1);
no_led = 0;
}
else
{
e_set_led(no_led-1,0);
e_set_led(no_led, 1);
no_led++;
}
}
int main(void)
{
int cam_mode,cam_x1,cam_y1,cam_width,cam_heigth,cam_zx,cam_zy;
if(getSelector() == 0)
return;
char c;
int i;//buff_length;
//int wait_cam;
//defining the position of the several inputs and outputs (motors are outputs) in the respective SFR
//the SFR are programed as structures, so accessing to an input/output implies only acessing to the field of the structure corresponding to the SFR that was
//assigned to that input/output (see epuck_ports.h and p30f6014.h to understand the SFR assignment)
e_init_port();
e_init_motors();
//important to enable uart interface
e_init_uart1();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
//initial configuration of the camera
cam_x1=(ARRAY_WIDTH/Z_WIDTH-WIDTH)/2;
cam_y1=(ARRAY_HEIGHT/Z_HEIGHT-HEIGHT)/2;
cam_width=WIDTH;
cam_heigth=HEIGHT;
cam_zx=Z_WIDTH;
cam_zy=Z_HEIGHT;
cam_mode=MODE;
if(cam_mode==GREY_SCALE_MODE)
cam_size=cam_width*cam_heigth;
else
cam_size=cam_width*cam_heigth*2;
//not waiting for camera
wait_cam=0;
e_activate_agenda(updateFlag, 500);//500//1000
e_activate_agenda(readValues, 10);
e_start_agendas_processing();
keepFinding = 0;
e_set_led(4,1);
keepFinding = 1;
int s = getSelector();
while(s==getSelector());
/*while(1){
sprintf(b1,"%i\n",e_get_calibrated_prox(S_FRONT_LEFT));
e_send_uart1_char(b1,10);
while(e_uart1_sending());
}*/
while(1){
while(keepFinding) {
if(!cameraOn) {
startCamera();
correctRobot();
}
while(!captura());
//e_send_uart1_char(buffer,buff_length);
//while(e_uart1_sending());
if(cameraOn > 5)
processaImagem();
cameraOn++;
}
if(cameraOn)
stopCamera();
while(!flag);
flag = 0;
sendInputs();
readOrder();
readOrder();
e_set_speed_left(speedLeft);
e_set_speed_right(speedRight);
e_set_led(4,0);
}
return 0;
}
int main()
{
// init robot
e_init_port();
e_init_ad_scan();
e_init_uart1();
e_led_clear();
e_init_motors();
e_start_agendas_processing();
// initialise buffer
int k;
for (k = 0; k < NB_NEIGHBOURS; k++)
neighbours[k].id = -1;
// wait for s to start
/* btcomWaitForCommand('s'); */
btcomSendString("-OK-\n");
e_calibrate_ir();
// initialize ircom, then rng and start listening
ircomStart();
//ircomEnableContinuousListening();
//ircomEnableProximity();
initRandomNumberGenerator();
// after rng init we can disable prox sensors
//ircomDisableProximity();
ircomEnableContinuousListening();
ircomListen();
id = getselector();
ircomResetTime();
lastClock = ircomGetTime();
// activate movement
//e_activate_agenda(move, 2500);
organiseInit();
// advertise current direction
e_led_clear();
e_set_led(0,1);
e_set_led(4,1);
while(1)
{
int messageReceived = 0;
while(((ircomGetTime() - lastClock < COM_CYCLE_SPEED) || (ircomIsReceiving() == 1)))
{
IrcomMessage msg;
ircomPopMessage(&msg);
if (msg.error == 0)
{
processNewMessage(&msg);
messageReceived = 1;
SetRobotSeen(msg);
}
}
e_set_body_led(messageReceived);
SendData();
//sendId();
//sendAngleToNeighbours();
lastClock = ircomGetTime();
e_set_body_led(0);
}
ircomStop();
return 0;
}
/*! \brief The "main" function of the demo */
void run_accelerometer() {
int accx, accy, accz;
long ampl;
long amplavg;
// char buffer[80];
int state;
int lednum;
double angle;
int soundsel;
// Init sound
e_init_port();
e_init_ad_scan(ALL_ADC);
e_init_sound();
#ifdef MOVE
e_init_motors();
e_start_agendas_processing();
#endif
// Calibrate accelerometers
e_set_led(8, 1);
e_acc_calibr();
e_set_led(8, 0);
#ifdef MOVE
// Move forwards
e_set_speed_left(100);
e_set_speed_right(100);
#endif
// Detect free fall and shocks
state=STATE_NORMAL;
amplavg=1000;
while (1) {
accx = e_get_acc(0);
accy = e_get_acc(1);
accz = e_get_acc(2) + 744; //744 is 1g
if ((accz<0) && (accz>-600)) {accz=0;}
ampl=((long)(accx)*(long)(accx))+((long)(accy)*(long)(accy))+((long)(accz)*(long)(accz));
amplavg=(amplavg>>2)+ampl;
if (! e_dci_unavailable) {
if (state!=STATE_NORMAL) {
state=STATE_NORMAL;
e_set_led(8, 0);
e_set_body_led(0);
}
}
if (amplavg<1000) {
if (state!=STATE_FREEFALL) {
state=STATE_FREEFALL;
e_stop_flag=1;
while (e_dci_unavailable);
// sprintf(buffer, "Free fall: %ld, (%d, %d, %d) -> (%ld)\r\n", amplavg, accx, accy, accz, ampl);
// e_send_uart1_char(buffer, strlen(buffer));
e_play_sound(11028, 8016);
e_set_body_led(1);
e_set_led(8, 0);
}
} else if (amplavg>4000000) {
if (state!=STATE_SHOCK) {
state=STATE_SHOCK;
e_stop_flag=1;
while (e_dci_unavailable);
// sprintf(buffer, "Shock: %ld, (%d, %d, %d) -> (%ld)\r\n", amplavg, accx, accy, accz, ampl);
// e_send_uart1_char(buffer, strlen(buffer));
soundsel=(accx & 3);
if (soundsel==0) {
e_play_sound(0, 2112);
} else if (soundsel==1) {
e_play_sound(2116, 1760);
} else {
e_play_sound(3878, 3412);
}
e_set_body_led(0);
angle=atan2(accy, accx);
lednum=floor(atan2(accy, accx)/PI*4+PI/2+PI/8);
while (lednum>8) {lednum=lednum-8;}
while (lednum<0) {lednum=lednum+8;}
// sprintf(buffer, "(x=%d, y=%d) -> angle=%f, led=%d\r\n", accx, accy, angle, lednum);
// e_send_uart1_char(buffer, strlen(buffer));
e_set_led(lednum, 1);
}
}
}
}
void run_CameraTurn() {
int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size;
int i;
unsigned char *buf_ptr, pixel, lightest;
unsigned int left, right, lightPos;
#include "DataEEPROM.h"
/*read HW version from the eeprom (last word)*/
int HWversion=0xFFFF;
int temp = 0;
temp = ReadEE(0x7F,0xFFFE,&HWversion, 1);
temp = temp & 0x03; // get the camera rotation from the HWversion byte
/*Cam default parameter*/
cam_mode=GREY_SCALE_MODE;
if ((temp==3)||(temp==0)) { // 0' and 180' camera rotation
cam_width=1;
cam_heigth=60;
} else {
cam_width=60;
cam_heigth=1;
}
cam_zoom=8;
cam_size=cam_width*cam_heigth;
e_poxxxx_init_cam();
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
while (1) {
e_poxxxx_launch_capture(&buffer[0]); // start camera capture
e_led_clear();
e_set_body_led(0);
e_set_front_led(0);
while(!e_poxxxx_is_img_ready()); // wait end of capture
buf_ptr=(unsigned char*)&buffer[0];
left=0; right=0; lightPos=0; lightest=0;
for (i=0; i<30; i++) { //left
pixel=*buf_ptr;
buf_ptr++;
left+=pixel;
if (pixel>lightest) {
lightest=pixel;
lightPos=i;
}
}
for (; i<cam_heigth; i++) { //right
pixel=*buf_ptr;
buf_ptr++;
right+=pixel;
if (pixel>lightest) {
lightest=pixel;
lightPos=i;
}
}
if (lightPos<20) { //led on at lightest position
e_set_led(7,1); }
else if (lightPos<40) {
e_set_led(0,1); }
else {
e_set_led(1,1); }
if ((temp==3)||(temp==2)) { // 0' and 90' camera rotation
e_set_speed_left(10*(lightPos-30)); // motor speed in steps/s
e_set_speed_right(-10*(lightPos-30));
} else {
e_set_speed_left(-10*(lightPos-30)); // motor speed in steps/s
e_set_speed_right(10*(lightPos-30));
}
sprintf(buffer, "left %u, right %u, lightest %u, lightPos %u\r\n", left, right, lightest, lightPos);
e_send_uart1_char(buffer, strlen(buffer));
wait(5000);
}
}
int main()
{
// init robot
e_init_port();
e_init_ad_scan();
e_init_uart1();
e_led_clear();
e_init_motors();
e_start_agendas_processing();
// wait for s to start
btcomWaitForCommand('s');
btcomSendString("==== READY - IR TESTING ====\n\n");
e_calibrate_ir();
// initialize ircom and start reading
ircomStart();
ircomEnableContinuousListening();
ircomListen();
// rely on selector to define the role
int selector = getselector();
// show selector choosen
int i;
long int j;
for (i = 0; i < selector; i++)
{
e_led_clear();
for(j = 0; j < 200000; j++)
asm("nop");
e_set_led(i%8, 1);
for(j = 0; j < 300000; j++)
asm("nop");
e_led_clear();
for(j = 0; j < 300000; j++)
asm("nop");
}
// activate obstacle avoidance
e_activate_agenda(obstacleAvoidance, 10000);
// acting as sender
if (selector == 1)
{
btcomSendString("==== EMITTER ====\n\n");
int i;
for (i = 0; i < 10000; i++)
{
// takes ~15knops for a 32window, avoid putting messages too close...
for(j = 0; j < 200000; j++) asm("nop");
ircomSend(i % 256);
while (ircomSendDone() == 0);
btcomSendString(".");
}
}
// acting as receiver
else if (selector == 2)
{
btcomSendString("==== RECEIVER ====\n\n");
int i = 0;
while (i < 200)
{
// ircomListen();
IrcomMessage imsg;
ircomPopMessage(&imsg);
if (imsg.error == 0)
{
int val = (int) imsg.value;
/* Send Value*/
char tmp[128];
sprintf(tmp, "Receive successful : %d - distance=%f \t direction=%f \n", val, (double)imsg.distance, (double)imsg.direction);
btcomSendString(tmp);
}
else if (imsg.error > 0)
{
btcomSendString("Receive failed \n");
}
// else imsg.error == -1 -> no message available in the queue
if (imsg.error != -1) i++;
}
}
// no proper role defined...
else
{
int i = 0;
long int j;
while(1)
{
e_led_clear();
for(j = 0; j < 200000; j++)
asm("nop");
e_set_led(i, 1);
for(j = 0; j < 300000; j++)
asm("nop");
i++;
i = i%8;
}
}
ircomStop();
return 0;
}
int run_asercom(void) {
static char c1,c2,wait_cam=0;
static int i,j,n,speedr,speedl,positionr,positionl,LED_nbr,LED_action,accx,accy,accz,sound;
static int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size,cam_x1,cam_y1;
static char first=0;
char *ptr;
static int mod, reg, val;
#ifdef IR_RECEIVER
char ir_move = 0,ir_address= 0, ir_last_move = 0;
#endif
static TypeAccSpheric accelero;
//static TypeAccRaw accelero_raw;
int use_bt=0;
//e_init_port(); // configure port pins
//e_start_agendas_processing();
e_init_motors();
//e_init_uart1(); // initialize UART to 115200 Kbaud
//e_init_ad_scan();
selector = getselector(); //SELECTOR0 + 2*SELECTOR1 + 4*SELECTOR2 + 8*SELECTOR3;
if(selector==10) {
use_bt=0;
} else {
use_bt=1;
}
#ifdef FLOOR_SENSORS
if(use_bt) { // the I2C must remain disabled when using the gumstix extension
e_i2cp_init();
}
#endif
#ifdef IR_RECEIVER
e_init_remote_control();
#endif
if(RCONbits.POR) { // reset if power on (some problem for few robots)
RCONbits.POR=0;
RESET();
}
/*read HW version from the eeprom (last word)*/
static int HWversion=0xFFFF;
ReadEE(0x7F,0xFFFE,&HWversion, 1);
/*Cam default parameter*/
cam_mode=RGB_565_MODE;
cam_width=40; // DEFAULT_WIDTH;
cam_heigth=40; // DEFAULT_HEIGHT;
cam_zoom=8;
cam_size=cam_width*cam_heigth*2;
if(use_bt) {
e_poxxxx_init_cam();
//e_po6030k_set_sketch_mode(E_PO6030K_SKETCH_COLOR);
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
}
e_acc_calibr();
if(use_bt) {
uart1_send_static_text("\f\a"
"WELCOME to the SerCom protocol on e-Puck\r\n"
"the EPFL education robot type \"H\" for help\r\n");
} else {
uart2_send_static_text("\f\a"
"WELCOME to the SerCom protocol on e-Puck\r\n"
"the EPFL education robot type \"H\" for help\r\n");
}
while(1) {
if(use_bt) {
while (e_getchar_uart1(&c)==0)
#ifdef IR_RECEIVER
{
ir_move = e_get_data();
ir_address = e_get_address();
if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){
switch(ir_move) {
case 1:
speedr = SPEED_IR;
speedl = SPEED_IR/2;
break;
case 2:
speedr = SPEED_IR;
speedl = SPEED_IR;
break;
case 3:
speedr = SPEED_IR/2;
speedl = SPEED_IR;
break;
case 4:
speedr = SPEED_IR;
speedl = -SPEED_IR;
break;
case 5:
speedr = 0;
speedl = 0;
break;
case 6:
speedr = -SPEED_IR;
speedl = SPEED_IR;
break;
case 7:
speedr = -SPEED_IR;
speedl = -SPEED_IR/2;
break;
case 8:
speedr = -SPEED_IR;
speedl = -SPEED_IR;
break;
case 9:
speedr = -SPEED_IR/2;
speedl = -SPEED_IR;
break;
case 0:
if(first==0){
e_init_sound();
first=1;
}
e_play_sound(11028,8016);
break;
default:
speedr = speedl = 0;
}
ir_last_move = ir_move;
e_set_speed_left(speedl);
e_set_speed_right(speedr);
}
}
#else
;
#endif
} else {
while (e_getchar_uart2(&c)==0)
#ifdef IR_RECEIVER
{
ir_move = e_get_data();
ir_address = e_get_address();
if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){
switch(ir_move) {
case 1:
speedr = SPEED_IR;
speedl = SPEED_IR/2;
break;
case 2:
speedr = SPEED_IR;
speedl = SPEED_IR;
break;
case 3:
speedr = SPEED_IR/2;
speedl = SPEED_IR;
break;
case 4:
speedr = SPEED_IR;
speedl = -SPEED_IR;
break;
case 5:
speedr = 0;
speedl = 0;
break;
case 6:
speedr = -SPEED_IR;
speedl = SPEED_IR;
break;
case 7:
speedr = -SPEED_IR;
speedl = -SPEED_IR/2;
break;
case 8:
speedr = -SPEED_IR;
speedl = -SPEED_IR;
break;
case 9:
speedr = -SPEED_IR/2;
speedl = -SPEED_IR;
break;
case 0:
if(first==0){
e_init_sound();
first=1;
}
e_play_sound(11028,8016);
break;
default:
speedr = speedl = 0;
}
ir_last_move = ir_move;
e_set_speed_left(speedl);
e_set_speed_right(speedr);
}
}
#else
;
#endif
}
if (c<0) { // binary mode (big endian)
i=0;
do {
switch(-c) {
case 'a': // Read acceleration sensors in a non
// filtered way, some as ASCII
accx = e_get_acc_filtered(0, 1);
accy = e_get_acc_filtered(1, 1);
accz = e_get_acc_filtered(2, 1);
//accx = e_get_acc(0); //too much noisy
//accy = e_get_acc(1);
//accz = e_get_acc(2);
buffer[i++] = accx & 0xff;
buffer[i++] = accx >> 8;
buffer[i++] = accy & 0xff;
buffer[i++] = accy >> 8;
buffer[i++] = accz & 0xff;
buffer[i++] = accz >> 8;
/*
accelero_raw=e_read_acc_xyz();
ptr=(char *)&accelero_raw.acc_x;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
ptr=(char *)&accelero_raw.acc_y;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
ptr=(char *)&accelero_raw.acc_z;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
*/
break;
case 'A': // read acceleration sensors
accelero=e_read_acc_spheric();
ptr=(char *)&accelero.acceleration;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr=(char *)&accelero.orientation;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr=(char *)&accelero.inclination;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
break;
case 'b': // battery ok?
buffer[i++] = BATT_LOW;
break;
case 'D': // set motor speed
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
speedl=(unsigned char)c1+((unsigned int)c2<<8);
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
speedr=(unsigned char)c1+((unsigned int)c2<<8);
e_set_speed_left(speedl);
e_set_speed_right(speedr);
break;
case 'E': // get motor speed
buffer[i++] = speedl & 0xff;
buffer[i++] = speedl >> 8;
buffer[i++] = speedr & 0xff;
buffer[i++] = speedr >> 8;
break;
case 'I': // get camera image
if(use_bt) {
e_poxxxx_launch_capture(&buffer[i+3]);
wait_cam=1;
buffer[i++]=(char)cam_mode&0xff;//send image parameter
buffer[i++]=(char)cam_width&0xff;
buffer[i++]=(char)cam_heigth&0xff;
i+=cam_size;
}
break;
case 'L': // set LED
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
switch(c1) {
case 8:
if(use_bt) {
e_set_body_led(c2);
}
break;
case 9:
if(use_bt) {
e_set_front_led(c2);
}
break;
default:
e_set_led(c1,c2);
break;
}
break;
case 'M': // optional floor sensors
#ifdef FLOOR_SENSORS
if(use_bt) {
e_i2cp_init();
e_i2cp_enable();
e_i2cp_read(0xC0, 0);
for(j = 0; j < 6; j++) {
if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j + 1);
else buffer[i++] = e_i2cp_read(0xC0, j - 1);
}
#ifdef CLIFF_SENSORS
for(j=13; j<17; j++) {
if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j - 1);
else buffer[i++] = e_i2cp_read(0xC0, j + 1);
}
#endif
e_i2cp_disable();
}
#else
for(j=0;j<6;j++) buffer[i++]=0;
#endif
break;
case 'N': // read proximity sensors
if(use_bt) {
for(j=0;j<8;j++) {
n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
} else {
for(j=0;j<10;j++) {
n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
}
break;
case 'O': // read light sensors
if(use_bt) {
for(j=0;j<8;j++) {
n=e_get_ambient_light(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
} else {
for(j=0;j<10;j++) {
n=e_get_ambient_light(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
}
break;
case 'Q': // read encoders
n=e_get_steps_left();
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
n=e_get_steps_right();
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
break;
case 'u': // get last micro volumes
n = e_get_micro_volume(0);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
n = e_get_micro_volume(1);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
n = e_get_micro_volume(2);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
break;
case 'U': // get micro buffer
ptr=(char *)e_mic_scan;
if(use_bt) {
e_send_uart1_char(ptr,600);//send sound buffer
} else {
e_send_uart2_char(ptr,600);//send sound buffer
}
n=e_last_mic_scan_id;//send last scan
buffer[i++]=n&0xff;
break;
default: // silently ignored
break;
}
if(use_bt) {
while (e_getchar_uart1(&c)==0); // get next command
} else {
while (e_getchar_uart2(&c)==0); // get next command
}
} while(c);
void run_wallfollow() {
int leftwheel, rightwheel; // motor speed left and right
int distances[NB_SENSORS]; // array keeping the distance sensor readings
int i; // FOR-loop counters
int gostraight;
int loopcount;
e_init_port();
e_init_motors();
//e_init_ad_scan(ALL_ADC);
//e_init_ad_scan();
follow_sensor_calibrate();
loopcount=0;
while (1) {
followGetSensorValues(distances); // read sensor values
gostraight=0;
if ((followgetSelectorValue() & 0x0001) == RIGHT_FOLLOW) {
e_set_led(6,0);
e_set_led(2,1);
for (i=0; i<8; i++) {
if (distances[i]>50) {break;}
}
if (i==8) {
gostraight=1;
} else {
follow_weightleft[0]=-10;
follow_weightleft[7]=-10;
follow_weightright[0]=10;
follow_weightright[7]=10;
if (distances[2]>300) {
distances[1]-=200;
distances[2]-=600;
distances[3]-=100;
}
}
} else {
e_set_led(6,1);
e_set_led(2,0);
for (i=0; i<8; i++) {
if (distances[i]>50) {break;}
}
if (i==8) {
gostraight=1;
} else {
follow_weightleft[0]=10;
follow_weightleft[7]=10;
follow_weightright[0]=-10;
follow_weightright[7]=-10;
if (distances[5]>300) {
distances[4]-=100;
distances[5]-=600;
distances[6]-=200;
}
}
}
leftwheel=BIAS_SPEED;
rightwheel=BIAS_SPEED;
if (gostraight==0) {
for (i=0; i<8; i++) {
leftwheel+=follow_weightleft[i]*(distances[i]>>4);
rightwheel+=follow_weightright[i]*(distances[i]>>4);
}
}
// set robot speed
followsetSpeed(leftwheel, rightwheel);
wait(15000);
}
}
void aggressive(void)
{
long i;
int left, right;
// e_init_sound();
e_start_agendas_processing();
e_set_speed_left(500);
e_set_speed_right(500);
while(1) {
e_set_led(1,1);
// If robot is stuck, use front 4 sensors to confirm in range, do a degree spin to try get unstuck
//if front left sensors, turn right
if (e_get_prox(0) > 800 || e_get_prox(1) > 800) {
if (e_get_prox(0) > 800) {
e_set_led(0,1);
}
if (e_get_prox(1) > 800) {
e_set_led(1,1);
}
// Do a 90 degree spin,
left=-450;right=450;
e_set_speed_right(right);
e_set_speed_left(left);
for(i=0;i<40000;i++) {asm("nop");}
// set back to normal speed
e_set_speed_left(500);
e_set_speed_right(500);
//clear all LED lights
e_led_clear();
}
//if front right sensors, turn left
if (e_get_prox(6) > 800 || e_get_prox(7) > 800) {
if (e_get_prox(6) > 800) {
e_set_led(7,1);
}
if (e_get_prox(7) > 800) {
e_set_led(7,1);
}
left=450;right=-450;
e_set_speed_right(right);
e_set_speed_left(left);
for(i=0;i<40000;i++) {asm("nop");}
// set back to normal speed
e_set_speed_left(500);
e_set_speed_right(500);
//clear all LED lights
e_led_clear();
}
//if back sensors, turn to face
if (e_get_prox(3) > 800 || e_get_prox(5) > 800) {
/*// Run away fast with fear flash
e_set_led(0,1);
e_set_led(1,1);
e_set_led(2,1);
e_set_led(3,1);
e_set_led(4,1);
e_set_led(5,1);
e_set_led(6,1);
e_set_led(7,1);
e_play_sound(11028, 8016);
*/
e_set_speed_left(1500);
e_set_speed_right(-1500);
for(i=0;i<10000;i++) {asm("nop");}
// Set back to normal speed
//e_led_clear();
e_set_speed_left(500);
e_set_speed_right(500);
}
//camera code
}
}
