void LCDdefinechar(uint8_t *pc,uint8_t char_code){
uint8_t a, pcc;
uint16_t i;
a=(char_code<<3)|0x40;
for (i=0; i<8; i++)
{
pcc=lcdpgm_read_byte(&pc[i]);
LCDSendCommand(a++);
LCDSendData(pcc);
}
}
/* This is called every time data is received from the Rabbit
* via WiFi.
*/
void userLoop() {
// Example using the LCD to print debug values
LCDClear();
for (unsigned char i = 0; i < 4; i += 1) {
LCDHex(controls.analog[i]);
LCDSendData(' ');
}
/////////////////////////
// Drive code example //
/////////////////////////
// Simple "tank drive" example:
// Use the L joystick's y-axis to control the L motor
// and the R joystick's y-axis to control the R motor
// Tank drive using the TReX
trex.motor[0] = controls.analog[1];
trex.motor[1] = controls.analog[3];
// Tank drive using the X2
// (see below on how to control the X2 motor directly)
//x2.motor[0] = controls.analog[1];
//x2.motor[1] = controls.analog[3];
///////////////////////////
// Servo control example //
///////////////////////////
// FIRST: Uncomment the TWO sections of code marked
// "Uncomment to enable X2 servos"
// This maps servos 0 and 1 to the X and Y axes (respectively) of the
// second controller
// (Servo 0 is pin D4 and servo 1 is pin D5: refer to the diagram in
// the Electronics Assembly Guide, "Connecting the X2" section)
//x2.servo[0] = controls.analog[4];
//x2.servo[1] = controls.analog[5];
//////////////////////////////////////////////////////////////////
// Code below this point actually sets motor and servo values. //
// Make sure you know what you're doing before modifying! //
//////////////////////////////////////////////////////////////////
// [2 of 2] Uncomment to enable X2 servos
//servo_setPos(0, x2.servo[0]);
//servo_setPos(1, x2.servo[1]);
// This scales the values in x2.motor[] to the range [-255,255]
// needed by setMotorN()
int motorVal;
motorVal = ((int)x2.motor[0] - 127) * 2;
setMotor1(motorVal ? motorVal-1 : 0);
motorVal = ((int)x2.motor[1] - 127) * 2;
setMotor2(motorVal ? motorVal-1 : 0);
// For advanced users: The setMotor1() and setMotor2() functions
// are defined in SPI.c. Look in that file for functions
// that do more advanced motor control (acceleration, braking).
}
void LCDStringFlash(char *data)
{
char k;
while (k=*data++) LCDSendData(k);
}
