/** displayWelcome ****************************************** * Output welcome message, play tune and delay 2s. * @modifies - lcd displays welcome message, tune is played */ void displayWelcome() { clear(); print_from_program_space(welcome_line1); lcd_goto_xy(0,1); print_from_program_space(welcome_line2); play_from_program_space(welcome); delay_ms(2000); }
void print_two_lines_delay_1s(const char *line1, const char *line2) { clear(); print_from_program_space(line1); lcd_goto_xy(0,1); print_from_program_space(line2); delay_ms(1000); }
void print_two_lines_delay_1s(const char *line1, const char *line2) { // Play welcome music and display a message clear(); print_from_program_space(line1); lcd_goto_xy(0,1); print_from_program_space(line2); delay_ms(1000); }
// Displays a welcome message and plays the initial music. void initialize() { load_custom_characters(); // load the custom characters play_from_program_space(welcome); print_two_lines_delay_1s(welcome_line1,welcome_line2); print_two_lines_delay_1s(demo_name_line1,demo_name_line2); print_two_lines_delay_1s(instructions_line1,instructions_line2); clear(); print_from_program_space(instructions_line3); lcd_goto_xy(0,1); print_from_program_space(instructions_line4); while(!(wait_for_button_and_beep() & BUTTON_B)); play_from_program_space(thank_you_music); print_two_lines_delay_1s(thank_you_line1,thank_you_line2); }
// Initializes the 3pi, displays a welcome message, calibrates, and // plays the initial music. void initialize() { // This must be called at the beginning of 3pi code, to set up the // sensors. We use a value of 2000 for the timeout, which // corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor. pololu_3pi_init(2000); load_custom_characters(); // load the custom characters play_from_program_space(welcome); print_two_lines_delay_1s(welcome_line1,welcome_line2); print_two_lines_delay_1s(demo_name_line1,demo_name_line2); print_two_lines_delay_1s(instructions_line1,instructions_line2); clear(); print_from_program_space(instructions_line3); lcd_goto_xy(0,1); print_from_program_space(instructions_line4); while(!(wait_for_button_and_beep() & BUTTON_B)); play_from_program_space(thank_you_music); print_two_lines_delay_1s(thank_you_line1,thank_you_line2); }
void initialize() { // Set PC5 as an input with internal pull-up disabled DDRC5 &= ~(1<< PORTC5); //port 5 is an input PORTC &= ~(1<< PORTC5); // Play welcome music and display a message print_from_program_space(welcome_line1); lcd_goto_xy(0,1); print_from_program_space(welcome_line2); //play_from_program_space(welcome); delay_ms(1000); clear(); print_from_program_space(name_line1); lcd_goto_xy(0,1); print_from_program_space(name_line2); delay_ms(1000); // Display battery voltage and wait for button press while(!button_is_pressed(BUTTON_B)) { clear(); print_long(read_battery_millivolts()); print("mV"); lcd_goto_xy(0,1); print("Press B"); delay_ms(100); } // Always wait for the button to be released so that 3pi doesn't // start moving until your hand is away from it. wait_for_button_release(BUTTON_B); clear(); print("Go!"); // Play music and wait for it to finish before we start driving. play_from_program_space(go); while(is_playing()); }
void initialize() { //unsigned int counter; // used as a simple timer //unsigned int sensors[5]; // an array to hold sensor values // This must be called at the beginning of 3pi code, to set up the // sensors. We use a value of 2000 for the timeout, which // corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor. pololu_3pi_init(2000); //load_custom_characters(); // load the custom characters // Play welcome music and display a message print_from_program_space(welcome_line1); lcd_goto_xy(0,1); print_from_program_space(welcome_line2); //play_from_program_space(welcome); delay_ms(1000); clear(); print_from_program_space(demo_name_line1); lcd_goto_xy(0,1); print_from_program_space(demo_name_line2); delay_ms(1000); // Display battery voltage and wait for button press while(!button_is_pressed(BUTTON_B)) { int bat = read_battery_millivolts(); clear(); print_long(bat); print("mV"); lcd_goto_xy(0,1); print("Press B"); delay_ms(100); } // Always wait for the button to be released so that 3pi doesn't // start moving until your hand is away from it. wait_for_button_release(BUTTON_B); delay_ms(1000); clear(); }
void menu_select() { static int menu_index = 0; print_two_lines_delay_1s(main_menu_intro_line1,main_menu_intro_line2); while(1) { clear(); lcd_goto_xy(0,1); print_from_program_space(menu_line2); lcd_goto_xy(0,0); print_from_program_space(main_menu_options[menu_index]); lcd_show_cursor(CURSOR_BLINKING); // the cursor will be blinking at the end of the option name // wait for all buttons to be released, then a press while(button_is_pressed(ANY_BUTTON)); char button = wait_for_button_press(ANY_BUTTON); if(button & BUTTON_A) { play_from_program_space(beep_button_a); menu_index --; } else if(button & BUTTON_B) { lcd_hide_cursor(); clear(); play_from_program_space(beep_button_b); wait_for_button_release(button); while(!button_is_pressed(BUTTON_B)) { lcd_goto_xy(0,1); print_from_program_space(back_line2); lcd_goto_xy(0,0); main_menu_functions[menu_index](); } set_motors(0,0); stop_playing(); m1_speed = 0; m2_speed = 0; red_led(0); green_led(0); play_from_program_space(beep_button_b); return; } else if(button & BUTTON_C) { play_from_program_space(beep_button_c); menu_index ++; } if(menu_index < 0) menu_index = main_menu_length-1; if(menu_index >= main_menu_length) menu_index = 0; } }
// Initializes the 3pi, displays a welcome message, calibrates, and // plays the initial music. void initialize() { unsigned int counter; // used as a simple timer unsigned int sensors[5]; // an array to hold sensor values // This must be called at the beginning of 3pi code, to set up the // sensors. We use a value of 2000 for the timeout, which // corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor. pololu_3pi_init(2000); load_custom_characters(); // load the custom characters // Play welcome music and display a message print_from_program_space(welcome_line1); lcd_goto_xy(0,1); print_from_program_space(welcome_line2); play_from_program_space(welcome); delay_ms(1000); clear(); print_from_program_space(demo_name_line1); lcd_goto_xy(0,1); print_from_program_space(demo_name_line2); delay_ms(1000); // Display battery voltage and wait for button press while(!button_is_pressed(BUTTON_B)) { int bat = read_battery_millivolts(); clear(); print_long(bat); print("mV"); lcd_goto_xy(0,1); print("Press B"); delay_ms(100); } // Always wait for the button to be released so that 3pi doesn't // start moving until your hand is away from it. wait_for_button_release(BUTTON_B); delay_ms(1000); // Auto-calibration: turn right and left while calibrating the // sensors. for(counter=0;counter<80;counter++) { if(counter < 20 || counter >= 60) set_motors(40,-40); else set_motors(-40,40); // This function records a set of sensor readings and keeps // track of the minimum and maximum values encountered. The // IR_EMITTERS_ON argument means that the IR LEDs will be // turned on during the reading, which is usually what you // want. calibrate_line_sensors(IR_EMITTERS_ON); // Since our counter runs to 80, the total delay will be // 80*20 = 1600 ms. delay_ms(20); } set_motors(0,0); // Display calibrated values as a bar graph. while(!button_is_pressed(BUTTON_B)) { // Read the sensor values and get the position measurement. unsigned int position = read_line(sensors,IR_EMITTERS_ON); // Display the position measurement, which will go from 0 // (when the leftmost sensor is over the line) to 4000 (when // the rightmost sensor is over the line) on the 3pi, along // with a bar graph of the sensor readings. This allows you // to make sure the robot is ready to go. clear(); print_long(position); lcd_goto_xy(0,1); display_readings(sensors); delay_ms(100); } wait_for_button_release(BUTTON_B); clear(); print("Go!"); // Play music and wait for it to finish before we start driving. play_from_program_space(go); while(is_playing()); }