void
EV3B_draw_image( c_t p_filename[ESCHER_SYS_MAX_STRING_LEN], const i_t p_x, const i_t p_y )
{
if ( fgImage.data ) {
ev3_image_free(&fgImage);
if ( fgImageMem.buffer ) {
ev3_memfile_free(&fgImageMem);
}
}
if ( ev3_memfile_load(p_filename,&fgImageMem) == E_OK ) {
if ( ev3_image_load(&fgImageMem,&fgImage) == E_OK ) {
ev3_lcd_draw_image(&fgImage,p_x,p_y);
} else {
ev3_memfile_free(&fgImageMem);
}
}
/* Replace/Insert your implementation code here... */
}
void main_task(intptr_t unused) {
ev3_lcd_set_font(EV3_FONT_MEDIUM);
ev3_font_get_size(EV3_FONT_MEDIUM, &fontw, &fonth);
memfile_t memfile;
ev3_memfile_load("/test.bmp", &memfile);
image_t image;
ev3_image_load(&memfile, &image);
ev3_lcd_draw_image(&image, 0, fonth * 2);
//ev3_sta_cyc(TEST_EV3_CYC1);
// Enable TEST_EV3_CYC2 for 5 seconds
ev3_sta_cyc(TEST_EV3_CYC2);
tslp_tsk(5000);
ev3_stp_cyc(TEST_EV3_CYC2);
#if 0
// Register button handlers
ev3_button_set_on_clicked(BACK_BUTTON, button_clicked_handler, BACK_BUTTON);
ev3_button_set_on_clicked(ENTER_BUTTON, button_clicked_handler, ENTER_BUTTON);
ev3_button_set_on_clicked(LEFT_BUTTON, button_clicked_handler, LEFT_BUTTON);
// Configure sensors
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
// Configure motors
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
// Start task for self-balancing
act_tsk(BALANCE_TASK);
// Open Bluetooth file
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
// Start task for printing message while idle
act_tsk(IDLE_TASK);
while(1) {
uint8_t c = fgetc(bt);
sus_tsk(IDLE_TASK);
switch(c) {
case 'w':
if(motor_control_drive < 0)
motor_control_drive = 0;
else
motor_control_drive += 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 's':
if(motor_control_drive > 0)
motor_control_drive = 0;
else
motor_control_drive -= 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 'a':
if(motor_control_steer < 0)
motor_control_steer = 0;
else
motor_control_steer += 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'd':
if(motor_control_steer > 0)
motor_control_steer = 0;
else
motor_control_steer -= 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'h':
fprintf(bt, "==========================\n");
fprintf(bt, "Usage:\n");
fprintf(bt, "Press 'w' to speed up\n");
fprintf(bt, "Press 's' to speed down\n");
fprintf(bt, "Press 'a' to turn left\n");
fprintf(bt, "Press 'd' to turn right\n");
fprintf(bt, "Press 'i' for idle task\n");
fprintf(bt, "Press 'h' for this message\n");
fprintf(bt, "==========================\n");
break;
case 'i':
fprintf(bt, "Idle task started.\n");
rsm_tsk(IDLE_TASK);
break;
default:
fprintf(bt, "Unknown key '%c' pressed.\n", c);
}
}
#endif
}