void main(void) {
/* your definitions here */
char data = 0xaa;
char data2 = 0x55;
char y;
// init buttons and seven-segment displays
initIO();
// init LCD
initLCD();
lcd_onOff(1, 0);
/* your code here */
for (;;) {
for (y = 0; y < 8; y++) {
printOnLCD(y, 0, 63, data);
}
wait(1000000l);
for (y = 0; y < 8; y++) {
printOnLCD(y, 0, 63, data2);
}
wait(1000000l);
}
}
/*Called by stationMode(). Enters if not carrying object.*/
void pickUpMode(){
if (itemInHistory() == 1) //checks if mission completed for this station
{
// Do nothing -> exit code -> leave station mode
}
else
{
waitForUserInputStartAbort();
if (pickUpItem == 1)
{
for (uint8_t cntDigit = 0; cntDigit<12; cntDigit++) //Storing RFID tag in cargo
{
cargo[cntDigit] = newStream[cntDigit];
}
carryItem = 1; // Shows that the robot is carrying an object
printOnLCD(1); //Printing cargo RFID tag on display
waitForUserInputEndPickup(); // the item has been pickup up and leave stationMode()
}
else
{
// Do nothing -> exit code -> leave station mode
}
}
}
/*Called by stationMode(). Enters if carrying object. */
void deliveryMode(){
if (cargoEqualsNewStream() == 1) //Checks if the station is the correct station to leave cargo
{
for (uint8_t cntDigit = 0; cntDigit < 12; cntDigit++) //Adds the completed station to history
{
history[historySize][cntDigit] = cargo[cntDigit];
}
historySize++;
printOnLCD(0); //Prints "No Cargo" on LCD
carryItem = 0;
//stationDirection = global variabel som beskriver sida om tejp för station. tilldelas egentligen så fort man stött på en station
//Skicka kommando till styr-AVR och kalla på dropItem(stationDirection)
}
else
{
// Do nothing -> exit code -> leave station mode
}
}
