/**
* Simulates distance sensing for the IR sensors via decreasing the voltage the emitters get and counting the number of times the
* sensors sense something
*/
void calculateIR(int * irLeft, int * irRight, int * irLeftOld, int * irRightOld){
*irLeftOld = *irLeft;
*irRightOld = *irRight;
/*int el = 160/IR_STEP, bl = 0, er = 160/IR_STEP, br = 0;
while(el-bl>1 || er-br>1){
int dacVal = (el+bl)/2;
dac_ctr(26, 0, 160-dacVal*IR_STEP);
dac_ctr(27, 1, 160-dacVal*IR_STEP);
freqout(11, 1, 38000);
if(input(10)) bl=dacVal;
else el=dacVal;
dacVal = (er+br)/2;
dac_ctr(26, 0, 160-dacVal*IR_STEP);
dac_ctr(27, 1, 160-dacVal*IR_STEP);
freqout(1, 1, 38000);
if(input(2)) br=dacVal;
else er=dacVal;
}
*irLeft=bl;
*irRight=br;*/
*irLeft=*irRight=0;
for(int dacVal = 0; dacVal < 160; dacVal += 8) {
dac_ctr(26, 0, dacVal);
freqout(11, 1, 38000);
*irLeft += input(10);
dac_ctr(27, 1, dacVal);
freqout(1, 1, 38000);
*irRight += input(2);
}
}
int getIR()
{
irLeft = 0;
irRight = 0;
for (int dacVal = 0; dacVal < 160; dacVal += 8) {
dac_ctr(26, 0, dacVal);
freqout(11, 1, 38000);
irLeft += input(10);
dac_ctr(27, 1, dacVal);
freqout(1, 1, 38000);
irRight += input(2);
}
}
int get_val(void)
{
int val = 0;
button = -1;
//high(26);
//freqout(4, 100, 4000);
//low(26);
pause(250);
while(1)
{
val *= 10;
button = sirc_button(10);
if(button == ENTER)
{
if(val > 500) val = 500;
if(val < -500) val = -500;
button = -1;
break;
}
else if(button != -1)
{
high(26);
freqout(4, 100, 4000);
low(26);
if(button >= 0 && button <= 9)
val += button;
pause(250);
button = -1;
}
}
low(26);
return val;
}
int checkLeft()
{
int right;
freqout(13, 1, 38000);
right = input(11);
return right;
}
int checkRight()
{
int left;
freqout(0, 1, 38000);
left = input(1);
return left;
}
int main()
{
while (1) {
for (int i=0;i<size;i+=2) {
freqout(PIN,speed*notes[i+1],notes[i]);
}
}
}
int main() // main function
{
low(26); // D/A0 & D/A1 to 0 V
low(27);
while(1) // Main loop
{
freqout(11, 1, 38000); // Left IR LED light
irLeft = input(10); // Check left IR detector
freqout(1, 1, 38000); // Repeat for right detector
irRight = input(2);
print("%c irLeft = %d, irRight = %d", // Display detector states
HOME, irLeft, irRight);
pause(100); // Pause before repeating
}
}
void set_mode(void)
{
button = -1;
high(26);
freqout(4, 100, 4000);
pause(250);
while(button == -1)
{
button = sirc_button(10);
if(button != -1)
freqout(4, 100, 4000);
if(button >-1 && button < 10)
{
mode = button;
break;
}
}
low(26);
}
int checkClose(){
irLeft = 0;
irRight = 0;
distance = ping_cm(8);
for(int dacVal = 0; dacVal < 160; dacVal += 8){
dac_ctr(26, 0, dacVal);
freqout(11, 1, 38000);
irLeft += input(10);
dac_ctr(27, 1, dacVal);
freqout(1, 1, 38000);
irRight += input(2);
}
if (irLeft<7) {
drive_speed(25,0);
} else if (irLeft > 9 || irLeft == 0){
drive_speed(0,25);
} else {
drive_speed(40,40);
}
if (distance<=5){
fullTurn(90);
degrees+=90;
end=1;
}
drive_getTicks(&ticksLeft, &ticksRight);
leftDeg = ((ticksLeft * 360) / 332.38128) * 3.25;
rightDeg = ((ticksRight * 360) / 332.38128) * 3.25;
degrees = degrees + (rightDeg - leftDeg);
moved = ticksLeft * 3.25;
}
int main() // Main function
{
// Add startup code here.
while(1)
{
freqout(1, 1, 33000); // Repeat for right detector
irRight = input(2);
if(ping_cm(8)>50){ //Salida del laberinto
drive_speed(64,64);
pause (3000);
}
if(irRight == 1){ // Si no hay pared a la derecha
drive_speed(42,42); //Avanza
pause(600);
high(26);
high(27);
//drive_goto(25,-26); //Gira derecha
drive_speed(32,-32);
pause(750);
//drive_speed(0,0);
low(26);
low(27);
drive_speed(42,42); //Avanza
pause(1200);
//drive_speed(0,0);
}
if(irRight == 0 && ping_cm(8)<10){ //Si hay pared a la derecha y enfrente
drive_speed(0,0);
//Gira izquierda
drive_speed(-32,32);
pause(800);
drive_speed(0,0);
}
else{ //Si no hay pared enfrente
drive_speed(42,42);
pause(50);
}
}
}
int main() // main function
{
int DO = 22,CLK = 23, DI = 24, CS = 25;
sd_mount(DO,CLK,DI,CS);
wav_volume(10);
freqout(4, 2000, 3000); // Speaker tone: P4, 2 s, 3 kHz
while(1) // Endless loop
{
int wL = input(7); // Left whisker -> wL variable
int wR = input(8); // Right whisker -> wR variable
//print("%c", HOME); // Terminal cursor home (top-left)
//print("wL = %d wR = %d", wL, wR); // Display whisker variables
drive_speed(128,128);
if(input(7)==0 || input(8) == 0)
{
drive_speed(0,0);
pause(500);
wav_play("ouch.wav");
drive_goto(-64,64);
}
}
}
int main(void) // main function
{
int distance;
int addr = 32769; // Pick EEPROM base address.
int side = 1; // 0=Left, 1=Right
int exit = 0;
while(!exit) {
print("Enter direction (0 - forward, 1 - backward, 2 - Exit): "); // User prompt
scan("%d\n", &side);
freqout(4, 250, 3000); //pin, duration, frequency
switch(side)
{
case 0: // forward with turn
high(26);
pause(300);
drive_speed(-25, 26); //90deg Left turn
pause(1000);
drive_speed(0, 0);
break;
case 1: // backward with turn
high(27);
pause(300);
drive_speed(26, -25); //90deg Right turn
pause(1000);
drive_speed(0, 0);
break;
case 2:
print("Exit");
exit = 1;
}
}
print("\xff\x00\x00");
}
int revisarDerecha(){
freqout(1,1,38000);
return (input(2));
}
int main() // main function
{
freqout(4, 1000, 3000); // pin, duration, frequency
}
