void bot_StartStop(){
if(ON){
lcd_clear();
print_string(50,30,"stop");
bot_stop();
_delay_ms(1000);
lcd_clear();
ON=0;
}
else if(!ON){
lcd_clear();
print_string(50,30,"start");
_delay_ms(1500); //will move forward for minimum 500 ms till told to stop
bot_forward();
lcd_clear();
ON=1;
}
}
int main(int argc, char *argv[])
{
motor_init();
bot_stop();
// Move forward at 50% speed for 2 seconds
bot_forward(pwm_speed(50));
sleep(2);
// Spin around a bit, woohoo!
bot_spin(pwm_speed(40), SPIN_DIRECTION_LEFT);
sleep(1);
bot_spin(pwm_speed(40), SPIN_DIRECTION_RIGHT);
sleep(1);
bot_stop();
return 0;
}
void eye_control(){
while(1){
if(buttonsPressed & BUTTON_S2){ //D3 to disable eye control
bot_stop();
buttonsPressed=0;
lcd_clear();
print_string(40,30,"Disabled!!");
_delay_ms(3000);
lcd_clear();
break;
}
small_blink=0,big_blink=0,ON=0,menu_counter=0;
short toggle=1;
input = adc_read();
highlight_and_print_string(0,8,"1.Waiting...");
_delay_ms(100);
// lcd_clear();
if(input > AdcThreshold || input==AdcThreshold){
check_blink();
}
if(big_blink){
_delay_ms(1000);
while(1){
if(buttonsPressed & BUTTON_S2){ //D3 to disable eye control
bot_stop();
/*lcd_clear();
print_string(24,30,"Disabled!!");
_delay_ms(1000);
lcd_clear();*/
break;
}
small_blink=0,big_blink=0;
input = adc_read();
if(input > AdcThreshold){
check_blink();
}
if(small_blink && !ON){
menu_counter++;
toggle=1;
if(menu_counter==5) menu_counter=0;
}
else if(big_blink){
//lcd_clear();
if(ON){
ON=0;
bot_stop();
_delay_ms(1000);
toggle=1;
}
else if(menu_counter==0){
_delay_ms(1000);
break;
}
else if(menu_counter==1){
highlight_and_print_string(0,16,"2.Left...");
_delay_ms(1000);
bot_left();
ON=1;
}
else if(menu_counter==2){
highlight_and_print_string(0,24,"3.Right...");
_delay_ms(1000);
bot_right();
ON=1;
}
else if(menu_counter==3){
highlight_and_print_string(0,32,"4.Forward...");
_delay_ms(1000);
bot_forward();
ON=1;
}
else if(menu_counter==4){
highlight_and_print_string(0,40,"5.Backward...");
_delay_ms(1000);
bot_backward();
ON=1;
}
}
if(!ON && toggle){
toggle=0;
//lcd_clear();
print_string(0,0,"===Eye Control===");
print_string(0,8,"1.Wait ");
print_string(0,16,"2.Left ");
print_string(0,24,"3.Right ");
print_string(0,32,"4.Forward ");
print_string(0,40,"5.Backward ");
print_string(0,56,"*S2=ESC*");
switch(menu_counter){
case 0:
highlight_and_print_string(0,8,"1.Wait ");
_delay_ms(100);
break;
case 1:
highlight_and_print_string(0,16,"2.Left ");
_delay_ms(100);
break;
case 2:
highlight_and_print_string(0,24,"3.Right ");
_delay_ms(100);
break;
case 3:
highlight_and_print_string(0,32,"4.Forward ");
_delay_ms(100);
break;
case 4:
highlight_and_print_string(0,40,"5.Backward ");
_delay_ms(100);
break;
default:
break;
}
}
}
}
}
}
