/*
* Larm - ansvarig för att aktivera olika larmindikationer (kamera, led, siren).
*/
void larm(int currentTime){
//Larmstate signalerar om larmet ska slås på
if(larmState) {
if((currentTime - outportTime[15]) > outportLength[15]) {
outportTime[15] = currentTime;
sendPulse(100000,100000 , 15); //Skicka puls till kamera
}
signalon(DE2_PIO_JP1_OUT3_5_BASE, 3); //Slå på signal till LED
}
else {
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 2); //Slå av kamera
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 3); //Slå av LED
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 4); //Slå av Siren
}
//Larmstate ska bara slå på siren om switch 1 är på
if(larmState && buttonState[1]) {
if((currentTime - outportTime[17]) > outportLength[17]) {
outportTime[17] = currentTime;
sendPulse(10000,10000 , 17); //Skicka puls till siren
}
}
else if(larmState && !buttonState[1]) {
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 4);
}
}
/**
* The main functionality of the program.
*
*/
int main(int argc, char *argv[]) {
// Gets the number of measurements to display from the first parameter
int numDisplayed = atoi(argv[1]);
// Sets up the GPIO pins
setup();
// Set the system start time
sysStart = micros();
// Print the headers for each row
printf("Time\t\t");
for (int m = 1; m < SENSORS + 1; m++) {
printf("%d\t", m);
}
printf("\n");
// Start printing readings
for (int i = 0; i < numDisplayed; i++) {
for (int j = 0; j < READINGS; j++) {
// Minimum 60us delay between readings
delayMicroseconds(60);
sendPulse();
// Print current time
printf("%lu\t\t", (micros() - sysStart) / 1000);
// Print CMs
int cms[SENSORS];
for (int k = 0; k < SENSORS; k++) {
cms[k] = getCM(k);
if (cms[k] < 0) {
cms[k] = 400;
}
A[k][j] = cms[k];
// print raw data
printf("%d\t", cms[k]);
}
printf("\n");
// Wait for echos to die out
delayMicroseconds(23000);
}
//int displayCm[SENSORS];
// Display the results
//for (int l = 0; l < SENSORS; l++) {
//displayCm[l] = selection_algorithm(0, READINGS - 1, SENSITVTY, l);
//printf("%d\t", displayCm[l]);
//}
//printf("\n");
}
return 0;
}
/*
* sendPingPulse - skickar puls för samtliga pingsensorer.
*/
void sendPingPulse(int currentTime) {
if((currentTime - outportTime[2]) > outportLength[2]) {
outportTime[2] = currentTime;
sendPulse(1, 4500, 2);
}
if((currentTime - outportTime[3]) > outportLength[3]) {
outportTime[3] = currentTime;
sendPulse(1, 4500, 3);
}
if((currentTime - outportTime[5]) > outportLength[5]) {
outportTime[5] = currentTime;
sendPulse(1, 4500, 5);
}
}
//--------------------------------------------------------------
void ofApp::update(){
int time = ofGetElapsedTimeMillis();
if (time - lastPulseTime > PULSE_INTERVAL) {
lastPulseTime = time;
sendPulse();
}
while(oscReceiver.hasWaitingMessages()){
// get the next message
ofxOscMessage m;
oscReceiver.getNextMessage(&m);
// handle heartbeat
if(m.getAddress() == "/call/home"){
registerClient(&m);
}
}
}
void VBIRute() {
int msg=PMSG_LoseScr;
int ctrl,ch;
stopRaster();
cli();
if (needup) {
DeleteStars();
}
CalcStars();
needup=1;
if (check) {
ch = scanKey(&ctrl);
if (ch == 27 && (ctrl & 2)) {
sendPulse(chan,&msg);
check=0;
}
}
sei();
setRaster(NULL,250);
}
/* driveFunction - Funktion för att köra i olika riktningar. Bestämmer med en case sats
* vilken riktning bot ska köra i. Detta bestämms genom att skicka olika långa signaler
* till servo.
*/
void driveFunction(int currentTime, int driveState) {
switch(driveState) {
//Vänd höger
case 0:
if((currentTime - outportTime[0]) > outportLength[0]) {
outportTime[0] = currentTime;
//Skicka puls på out port (servo 1)
sendPulse(200, 100, 0);
}
if((currentTime - outportTime[1]) > outportLength[1]) {
outportTime[1] = currentTime;
//Skicka puls på out port (servo 2)
sendPulse(200, 100, 1);
}
break;
//Vänd vänster
case 1:
if((currentTime - outportTime[0]) > outportLength[0]) {
outportTime[0] = currentTime;
sendPulse(100, 100, 0);
}
if((currentTime - outportTime[1]) > outportLength[1]) {
outportTime[1] = currentTime;
sendPulse(100, 100, 1);
}
break;
//Kör frammåt
case 2:
if((currentTime - outportTime[0]) > outportLength[0]) {
outportTime[0] = currentTime;
sendPulse(200, 100, 0);
}
if((currentTime - outportTime[1]) > outportLength[1]) {
outportTime[1] = currentTime;
sendPulse(100, 100, 1);
}
break;
//Kör bakåt
case 3:
if((currentTime - outportTime[0]) > outportLength[0]) {
outportTime[0] = currentTime;
sendPulse(100, 100, 0);
}
if((currentTime - outportTime[1]) > outportLength[1]) {
outportTime[1] = currentTime;
sendPulse(200, 100, 1);
}
break;
//Stå still
case 4:
break;
default:
break;
}
}
