int main() // Main - execution begins!
{
xbee = fdserial_open(11, 10, 0, 9600);
//dprint(xbee, "hello");
//dprint(xbee, "hello");
drive_speed(0,0); // Start servos/encoders cog
drive_setRampStep(10); // Set ramping at 10 ticks/sec per 20 ms
sirc_setTimeout(50); // Remote timeout = 50 ms
//drive_feedback(0);
dt = CLKFREQ/10;
t = CNT;
while(1) // Outer loop
{
int button = sirc_button(4); // check for remote key press
// Motion responses - if key pressed, set wheel speeds
if(button == 2)
{
if(!running)
cogstart(&gofwd, NULL, fstack, sizeof fstack);
}
if(button == 8)
{
if(!running)
cogstart(&gobkwd, NULL, bstack, sizeof bstack);
}
if(button == CH_UP)drive_rampStep(100, 100); // Left turn
if(button == CH_DN)drive_rampStep(-100, -100); // Right turn
if(button == VOL_DN)drive_rampStep(-100, 100); // Left turn
if(button == VOL_UP)drive_rampStep(100, -100); // Right turn
if(button == MUTE)drive_rampStep(0, 0); // Stop
if(button == ENTER)
{
getTicks();
displayTicks();
}
if(CNT - t > dt)
{
t+=dt;
i++;
getTicks();
if
(
ticksLeftCalc != ticksLeftCalcOld
|| ticksRightCalc != ticksRightCalcOld
|| ticksLeft != ticksLeftOld
|| ticksRight != ticksRightOld
)
{
displayTicks();
}
}
}
}
void glut_renderScene()
{
glEnable (GL_TEXTURE_2D);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, GLUT_BUFSIZE, GLUT_BUFSIZE, GL_RGB, GL_FLOAT, &texture[0][0][0]);
glBegin(GL_QUADS);
glTexCoord2f(0.0f+offset, 0.0f); glVertex2f(-1.0, -1.0);
glTexCoord2f(0.5f+offset, 0.0f); glVertex2f(-1.0, 1.0);
glTexCoord2f(0.5f+offset, 1.0f); glVertex2f( 1.0, 1.0);
glTexCoord2f(0.0f+offset, 1.0f); glVertex2f( 1.0, -1.0);
glEnd();
displayTicks();
glFlush();
glutSwapBuffers();
}
