static void SensorSlave() {
SensorRequest_t t;
int status, byte;
unsigned int i, j, index, parent;
volatile uint32_t sensors[TRAIN_SENSOR_COUNT * TRAIN_MODULE_COUNT] = {0};
parent = MyParentTid();
debug("SensorSlave: Tid %d", MyTid());
t.type = SENSOR_RETURNED;
t.sensor = (uint32_t)sensors;
while (true) {
pollSensors();
for (i = 0; i < TRAIN_MODULE_COUNT; ++i) {
index = i * TRAIN_SENSOR_COUNT;
byte = trgetchar();
for (j = 0; j < TRAIN_SENSOR_COUNT / 2; ++j) {
sensors[index++] = EXTRACT_BIT(byte, (TRAIN_SENSOR_COUNT / 2) - j - 1) & 1;
}
byte = trgetchar();
for (; j < TRAIN_SENSOR_COUNT; ++j) {
sensors[index++] = EXTRACT_BIT(byte, TRAIN_SENSOR_COUNT - j - 1) & 1;
}
}
Send(parent, &t, sizeof(t), &status, sizeof(status));
}
Exit();
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
turnOnPowerButtonLight();
delayMs(20);
// Infinite operation loop
int timerLoop = 0;
const int timerLimit = 15;
initializeUSBBuffer();
initializeRobotBuffer();
initializeSensorArray();
setLEDs(BOTHLED, FULL);
enableReports();
enableSensors();
while(1) {
pollSensors();
if(timerLoop == timerLimit){
compileReport();
sendUSBBuffer();
timerLoop = 0;
delayMs(1);
}
timerLoop++;
pollRemoteSensors();
pollRemote();
executeCommand();
delayMs(5);
}
}
void DHT22Controller_loop()
{
unsigned long currentMillies = millis();
unsigned long elapsedTime = currentMillies - _lastMillies;
if (elapsedTime > POLL_INTERVAL)
{
_lastMillies = currentMillies;
pollSensors();
}
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
delayMs(20);
initializeUSBBuffer();
initializeRobotBuffer();
initializeSensorArray();
setLEDs(BOTHLED, FULL);
enableReports();
enableSensors();
int fakeTimer = 0;
// Infinite operation loop
while(1) {
if (fakeTimer == 4) {
compileReport();
sendUSBBuffer();
fakeTimer = 0;
}
pollSensors();
delayMs(250);
fakeTimer++;
}
}
void GameLogicController::pollLogic() {
//Check the instantiated MAO's
checkInstMAO();
//Evaluate the sensors
pollSensors();
//Evaluate the controllers
std::vector<MLBController*>& activeControllers = pollControllers();
MPYWrapper::getInstance()->runScripts(); //Running scripts!
cleanupSensors(); //Clean up sensors first! To make MLBSensorActuators work! ;)
cleanupControllers();
//Activate actuators
activateActuators(activeControllers);
//Cleaning up!
delete &activeControllers;
}
int main() {
#ifdef DEBUG
/* TODO: implement debugging
Debug debug(DEBUG_FREQ);
*/
#endif
// Set output pins: B0 (indicator), B1 (motor), B2 (lamp)
DDRB |= BV(DDB0) | BV(DDB1) | BV(DDB2);
// Initialize non-inverted pwm in pin OC0B (PB1)
TCCR0A |= BV(WGM01) | BV(WGM00);
TCCR0A |= BV(COM0B1);
Attiny13::setTimer0Prescaler(Attiny13::PSV_64);
// Initialize human as not doing anything.
OCR0B = 0xff;
bool indicatorLit = false;
uint16_t counter = 0;
while(true) {
counter += 1;
_delay_ms(LOOP_DELAY);
// Read sensors and re-activate human if pig is detected
if(pollSensors()) {
humanInactivityDelay = HUMAN_DELAY;
}
runHuman();
if(counter % INDICATOR_HALF_PERIOD == 0) {
indicatorLit = !indicatorLit;
setIndicator(indicatorLit);
}
}
}
void GRWHallway() {
if (direction == 1) {
// Set up distance counting
int lCount, rCount;
int lostL = 0;
int lostR = 0;
double wallL, wallR;
pollSensors(&lCount, &rCount);
position = 0.0;
lostL = lostR = 0;
currentRoom = -1;
int roomCount = 0;
// Move to center
moveToCenter(0.0);
pollSensors(&lCount, &rCount);
position = position + ((lCount + rCount) / 2.0) * ticks2inches;
correctAngle('B');
pollSensors(&lCount, &rCount);
urgStart(&urg);
// Keep going until both walls are lost or room found
while (!lostL || !lostR) {
if (scan_center(0.0, &wallL, &wallR, &lostL, &lostR, 1) != -10) {
lCount = rCount = 0;
pollSensors(&lCount, &rCount);
position = position + ((lCount + rCount) / 2.0) * ticks2inches;
char string[70];
sprintf(string, "Going Straight. Pos: %lf\n", position);
Xprintf(string);
}
if (position > array[current].roomDist[roomCount]*12) {
currentRoom++;
roomCount++;
}
if (current == destination && currentRoom == destinationRoom) return;
}
urgStop(&urg);
straightBlind(1.5 * 12);
turn90('L');
sendSpeed(0.0, 0.0);
current++;
currentRoom = -1;
return;
}
if (direction == -1) {
straightBlind(6);
correctAngle('B');
moveToCenter(0.0);
correctAngle('B');
// Keep going down center of hall until wall both disappear
int lostL, lostR;
double wallL, wallR;
lostL = lostR = 0;
wallL = wallR = 1;
urgStart(&urg);
while(!(lostR || lostL || ((wallL > 5 * feet2mm) && (wallR > 5 * feet2mm)))) {
scan_center(0.0, &wallL, &wallR, &lostL, &lostR, 1);
Xprintf("Scan centering until both walls further than 5ft or either is lost\n");
}
urgStop(&urg);
current--;
currentRoom = -1;
return;
}
}
// Deprecated.
void doSensors() {
pollSensors();
compileSensors();
}
