int main(void) {
char ch;
InitializeMCU();
CallEvery(blink, 0, 0.25f);
while(1) {
Printf("\nRAS Demo for Robotathon 2013\n");
Printf(" 0=UART Demo\n 1=Motor Demo\n");
Printf(" 2=Servo Demo\n 3=I2C Line Sensor Demo\n");
Printf(" 4=IR Sensor Demo\n 5=Encoders Demo\n");
Printf(" 6=GPIO Demo\n 7=GPIO Line Sensor Demo\n");
Printf(">> ");
// Read input from User
ch = Getc();
Printf("%c", ch);
Printf("\n");
switch(ch) {
case '0':
Printf("\n UART Demo\n");
uartDemo();
break;
case '1':
Printf("\nMotor Demo\n");
initMotors();
motorDemo();
break;
case '2':
Printf("\nServo Demo\n");
initServo();
servoDemo();
break;
case '3':
Printf("\nLine Sensor Demo\n");
initI2CLineSensor();
i2cLineSensorDemo();
break;
case '4':
Printf("\nIR Sensor Demo\n");
initIRSensor();
IRSensorDemo();
break;
case '5':
Printf("\nEncoders Demo\n");
initEncoders();
encoderDemo();
break;
case '6':
Printf("\nGPIO Demo\n");
gpioDemo();
break;
case '7':
Printf("\nGPIO Line Sensor Demo\n");
initGPIOLineSensor();
gpioLineSensorDemo();
break;
}
}
}
int main(void) {
initIRSensor();
initMotor();
initGPIOLineSensor();
initServo();
SetServo(servo,0);
stage = 0;
//while(1){followLine();}
//while(1){followWall();}
//SetMotor(leftMotor, 1); SetMotor(rightMotor, 1);
while(true){
LineSensorReadArray(gls, line);
if (stage==0){ //start state
if(line[0]<0.5&&line[1]<0.5&&line[2]<0.5&&line[3]<0.5&&line[4]<0.5&&line[5]<0.5&&line[6]<0.5&&line[7]<0.5) {
followWall();
}else{
followLine();
}
}else if(stage==1){
//once 90degree turn passed
// SetMotor(leftMotor, 1);
// SetMotor(rightMotor, -1);
SetPin(PIN_F2, 1);
followWall();
if (wallPresent()) {followWall();}
else {
findLine();
}
SetPin(PIN_F2, 0);
}else if (stage==2){
//once line found again after walled section
SetPin(PIN_F1, 1);
if((line[0]<0.5&&line[1]<0.5&&line[2]<0.5&&line[3]<0.5&&line[4]<0.5&&line[5]<0.5&&line[6]<0.5&&line[7]<0.5)||
(mostDark())) { //line[0]>0.5&&line[1]>0.5&&line[2]>0.5&&line[3]>0.5&&line[4]>0.5&&line[5]>0.5&&line[6]>0.5&&line[7]>0.5)
findEnd();
}else{
followLine();
};
SetPin(PIN_F1, 0);
}else{//end of course look for flag
findObject();
break;
}
}
}