/
demo.c
101 lines (76 loc) · 1.97 KB
/
demo.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
#include "common_robockey.h"
void position_demo()
{
m_usb_init();
set(DDRD,5);
//init mWii
char wii_status = m_wii_open();
if(wii_status){
m_green(ON);
set(PORTD,5);
}else
m_red(ON);
while(!m_usb_isconnected())
{
m_green(ON);
}
unsigned int blobs[] = {541,381,0,503,344,0,524,304,0,599,347,0};
int blob_status = 0;
while(1)
{
double x;
double y;
double theta;
if(m_usb_isconnected()){
blob_status = m_wii_read(blobs);
if(blob_status){
set_position(1024/2,768/2);
get_position(blobs,&x,&y,&theta);
/*
m_usb_tx_string("x: ");
m_usb_tx_int((int)(x * 100));
m_usb_tx_string("\n");
m_usb_tx_string("y: ");
m_usb_tx_int((int)(y * 100));
m_usb_tx_string("\n");
m_usb_tx_string("theta: ");
m_usb_tx_int((int)(theta * 100));
m_usb_tx_string("\n");
m_usb_tx_string("blob1x: ");
m_usb_tx_int((int) blobs[0]);
m_usb_tx_string("blob1y: ");
m_usb_tx_int((int) blobs[1]);
m_usb_tx_string("\n");
m_usb_tx_string("blob2x: ");
m_usb_tx_int((int) blobs[3]);
m_usb_tx_string("blob2y: ");
m_usb_tx_int((int) blobs[4]);
m_usb_tx_string("\n");
m_usb_tx_string("blob3x: ");
m_usb_tx_int((int) blobs[6]);
m_usb_tx_string("blob3y: ");
m_usb_tx_int((int) blobs[7]);
m_usb_tx_string("\n");
m_usb_tx_string("blob4x: ");
m_usb_tx_int((int) blobs[9]);
m_usb_tx_string("blob4y: ");
m_usb_tx_int((int) blobs[10]);
m_usb_tx_string("\n");
*/
m_usb_tx_int((int)(x * 100));
m_usb_tx_int((int)(y * 100));
m_usb_tx_int((int)(theta * 100));
m_usb_tx_int((int) blobs[0]);
m_usb_tx_int((int) blobs[1]);
m_usb_tx_int((int) blobs[3]);
m_usb_tx_int((int) blobs[4]);
m_usb_tx_int((int) blobs[6]);
m_usb_tx_int((int) blobs[7]);
m_usb_tx_int((int) blobs[9]);
m_usb_tx_int((int) blobs[10]);
m_wait(1000);
m_red(TOGGLE);
}
}
}
}