int main()
{
X=0;
create_connect();
set_create_total_angle(0);
printf("X\tAngle");
while(black_button()==0)
{
if (a_button()==1)
{
turnHalfCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (b_button()==1)
{
turnHalfCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (left_button()==1)
{
TurnCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (right_button() == 1)
{
TurnCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
}
}
void strategySelect()
{
printf("Press A for luggage carts\n"); //Strategy 1
printf("Press B for tower tip\n"); //Strategy 2
printf("Press <- for biofuel block\n"); //Strategy 3
printf("Press -> for center defense\n"); //Strategy 4
while (black_button() == 0)
{
if (a_button() == 1)
{
printf("You picked luggage carts\n");
printf("Press black button to confirm\n");
strategy = 1;
}
if (b_button() == 1)
{
printf("You picked tower tip\n");
printf("Press black button to confirm\n");
strategy = 2;
}
if (left_button() == 1)
{
printf("You picked biofuel block\n");
printf("Press black button to confirm\n");
strategy = 3;
}
if (right_button() == 1)
{
printf("You picked center defense\n");
printf("Press black button to confirm\n");
strategy = 4;
}
}
}
void pre_interface(t_bunny_pixelarray *pix)
{
background_set(pix);
left_button(pix);
right_button(pix);
player_tab_background(pix);
player_tab_lines(pix);
textbar_set(pix);
chatbox_set(pix);
}
void light_it_up(int light_port)
{
int l_on_, l_off_, l_mid_, OK=0;
float s;
while (!OK) {
cbc_display_clear();
cbc_printf (0,0,"CALIBRATE: sensor port #%d", light_port);
cbc_printf(0,1," press <-- when light on");
while(!left_button()){/*sensor value when light is on*/
cbc_printf(0,2," value is %d, bright = low ",l_on_=analog10 (light_port));
msleep(50);
}
cbc_printf(0,1," light on value is = %d ", l_on_);
sleep(1.);
cbc_printf(0,2," press --> when light off ");
while(!right_button()){ /*sensor value when light is off*/
cbc_printf(0,3," value is %d, dark = high ",l_off_=analog10 (light_port));
msleep(50);
}
cbc_printf(0,2," light off value is = %d ", l_off_);
sleep(1.);
cbc_printf(0,3," ");
if((l_off_-l_on_)>=120){ /*bright = small values */
OK=1;
l_mid_=(l_on_+l_off_)/2;
cbc_printf(0,4,"Good Calibration!");
cbc_printf(0,6,"Diff = %d: WAITING",l_off_-l_on_);
while(analog10(light_port)>l_mid_){
cbc_printf(0,7,"Value = %d; Threshold = %d ",analog10(light_port),l_mid_);
msleep(25);
}
cbc_printf(0,6,"Going! ");
cbc_printf(0,7,"Value = %d; Threshold = %d ",analog10(light_port),l_mid_);
}
else{
s=seconds();
cbc_printf(0,6,"BAD CALIBRATION");
if(l_off_<512){
cbc_printf(0,7," Add Shielding!!");
}
else{
cbc_printf(0,7," Aim sensor!!");
}
}
}
}
void wait_for_light(int light_port_)
{
int l_on_, l_off_, l_mid_, t, good=0;
/* print statements may look funny but are spaced for LCD*/
while(!good){
printf ("Cal. with sensoron port #%d\n", light_port_);
sleep(2.);
printf("Cal: press Left when light on\n");
while(!left_button());
l_on_=analog(light_port_); /*sensor value when light is on*/
beep();
printf("Cal: light on value is=%d\n", l_on_);
sleep(1.);
beep();
printf("Cal: press Right when light off\n");
while(!right_button());
l_off_=analog(light_port_); /*sensor value when light is off*/
beep();
printf("Cal: light off value is=%d\n", l_off_);
sleep(1.);
beep();
if((l_off_-l_on_)>=15){ /*bright = small values */
l_mid_=(l_on_+l_off_)/2;
printf("Good CalibrationDiff=%d Waiting\n",(l_off_-l_on_));
good=1;
while(analog(light_port_)>l_mid_)
tone(440.,100);
}
else{
if(l_off_<128){
printf("Bad Calibration Add Shielding!!\n");
for(t=100; t<10000; t=t+200) tone((float)t,50);
}
else{
printf("Bad Calibration Aim sensor!!\n");
for(t=10000; t>200; t=t-200) tone((float)t,50);
}
}
}
}
int main()
{
create_connect();
float x=.45;
if(black_button() == 1)
{
create_drive_straight(-100);
sleep(10);
create_stop();
}
while(left_button() == 0)
{
while(black_button() == 0)
{
if (a_button() == 1)
{
x=x+.001;
printf("%f\n", x);
sleep(.5);
}
if (b_button() == 1)
{
x=x-.001;
printf("%f\n", x);
sleep(.5);
}
if (up_button() == 1)
{
x=x+.0001;
printf("%f\n", x);
sleep(.5);
}
if (down_button() == 1)
{
x=x-.0001;
printf("%f\n", x);
sleep(.5);
}
}
create_spin_CW(450);
sleep(x);
create_stop();
}
}
int main()
{
X=0;
create_connect();
set_create_total_angle(0);
printf("X\tAngle");
cbc_display_clear();
printf("A to turn CCW 90deg.\tB to turn CW 90deg.\n");
printf("Left to turn CCW 45deg.\tRight to turn CW 45deg.\n");
printf("Down to force angle readjustment.\n");
while(black_button()==0)
{
if (a_button()==1)
{
turn(tspeed,45);
//turnHalfCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (b_button()==1)
{
turn(tspeed,-45);
//turnHalfCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (left_button()==1)
{
turn(tspeed,90);
//turnCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (right_button() == 1)
{
turn(tspeed,-90);
//turnCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (down_button() == 1)
{
turnAdjust();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
}
}
void main(){
int X = 0;
create_connect();
set_create_distance(0);
set_create_total_angle(0);
enable_servos();
armPosBlockStack1();
clawStack1();
/* create_drive(-500,-380);
sleep(2.3);
create_stop();
}
*/
// writeToFile();
printf("%f",seconds());
while(1) //black_button
{
if (a_button()){
testDrive();
}
if (b_button()){
testDetectPVC();
}
if (up_button()){
}
if (down_button()){
testTurnAdjust();
}
if (left_button()){
testTurnCCW();
}
if (right_button()){
testTurnCW();
}
}
}
void wait_for_light(int light_port_)
{
int l_on_, l_off_, l_mid_, t, OK=0;
int p; // temp until tone is implemented
float s;
while (!OK) {
cbc_display_clear();
cbc_printf (0,0,"CALIBRATE: sensor port #%d", light_port_);
sleep(1.); beep(); sleep(1.);
cbc_printf(0,1," press <-- when light on");
while(!left_button()){/*sensor value when light is on*/
cbc_printf(0,2," value is %d, bright = low ",l_on_=analog10 (light_port_));
msleep(50);
}
beep();
cbc_printf(0,1," light on value is = %d ", l_on_);
sleep(1.);
beep();
cbc_printf(0,2," press --> when light off ");
while(!right_button()){ /*sensor value when light is off*/
cbc_printf(0,3," value is %d, dark = high ",l_off_=analog10 (light_port_));
msleep(50);
}
beep();
cbc_printf(0,2," light off value is = %d ", l_off_);
sleep(1.);
beep();
cbc_printf(0,3," ");
if((l_off_-l_on_)>=120){ /*bright = small values */
OK=1;
l_mid_=(l_on_+l_off_)/2;
cbc_printf(0,4,"Good Calibration!");
cbc_printf(0,6,"Diff = %d: WAITING",l_off_-l_on_);
p=start_process(beeper1);
while(analog10(light_port_)>l_mid_){
cbc_printf(0,7,"Value = %d; Threshold = %d ",analog10(light_port_),l_mid_);
msleep(25);
}
cbc_printf(0,6,"Going! ");
cbc_printf(0,7,"Value = %d; Threshold = %d ",analog10(light_port_),l_mid_);
//kill_process(p); //works on cbc
__wfl_keep_beeping=0;//avoids kill process which has problems on Mac
}
else{
s=seconds();
cbc_printf(0,6,"BAD CALIBRATION");
if(l_off_<512){
cbc_printf(0,7," Add Shielding!!");
for(t=0; t<4; t++) {beep(); sleep(.2); beep(); sleep(0.4);}
beep();
}
else{
cbc_printf(0,7," Aim sensor!!");
for(t=0; t<4; t++) {beep(); sleep(.2); beep(); sleep(0.4);}
beep();
}
}
}
}
void kissSimComputerDraw()
{
int oriX=ksWindow.simWidth, oriY=0, i;
static char digitals[]="0 0 0 0 0 0 0 0";
static char buttons[]="0 0 0 0 0 0 0";
static char analogs[11][10]={" "," "," "," "," "," "," "," "," "," "," "};
static char actuators[4][25]={" "," "," "," "};
static char servos[4][25]={" "," "," "," "};
if(!glfwGetWindowParam(GLFW_OPENED)) return;
graphics_rectangle_fill(oriX,oriY,oriX+1,ksWindow.height,BLACK); // draw left border
draw_bg(oriX+5,oriY+9,0.36); // Botguy
NOBOLD g_printString(" CBC SIMULATOR",oriX+25, oriY+10,TEAL,1.0);
NOBOLD g_printString(" DIGITALS ",oriX+25, oriY+40,TEAL,1.0);
NOBOLD g_printString("0 1 2 3 4 5 6 7",oriX+25, oriY+55,TEAL,1.0);
NOBOLD g_printString(" BUTTONS ",oriX+25, oriY+90,TEAL,1.0);
//NOBOLD g_printString("< ^ V > A B .",oriX+30, oriY+105,TEAL,1.0);
NOBOLD g_printString("\xb \xd \xe \xc A B .",oriX+30, oriY+105,TEAL,1.0);
// hex b, c, d, e are left, right, up, and down arrows
NOBOLD g_printString(digitals,oriX+25, oriY+70,WHITE,1.0); // erase old digital values
NOBOLD g_printString(" ANALOGS ",oriX+25, oriY+140,TEAL,1.0);
for(i=0;i<8;i++){
digitals[2*i]=48+digital(i);
}
NOBOLD g_printString(digitals,oriX+25, oriY+70,BLACK,1.0); // write new digital values
NOBOLD g_printString(buttons,oriX+30, oriY+120,WHITE,1.0); // erase old button values
buttons[0]=48+!!left_button();
buttons[2]=48+!!up_button();
buttons[4]=48+!!down_button();
buttons[6]=48+!!right_button();
buttons[8]=48+!!a_button();
buttons[10]=48+!!b_button();
_bob.button=!!kiss_get_key('.');
buttons[12]=48+black_button();
NOBOLD g_printString(buttons,oriX+30, oriY+120,BLACK,1.0); // erase old button values
for(i=8;i<16;i++){//print out analogs
analogs[i-8][1]=(i<10)?48+i:48+i-10;
analogs[i-8][0]=(i<10)?32:49;
analogs[i-8][2]=':';
analogs[i-8][3]=' ';
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),WHITE,1.0);
convertNumToString(analog10(i),4,*analogs,10,i-8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(i-8)),oriX+157, oriY+165+(15*(i-8)),GRAY);
graphics_line(oriX+30+analog(i)/2, oriY+155+(15*(i-8)),oriX+30+analog(i)/2,oriY+165+(15*(i-8)),RED);
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),BLACK,1.0);
}
analogs[8][1]='X';
analogs[8][0]='A';
analogs[8][2]=':';
analogs[8][3]=' ';
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),WHITE,1.0);
convertNumToString(accel_x(),5,*analogs,10,8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(8)),oriX+157, oriY+165+(15*(8)),GRAY);
graphics_line(oriX+30+(accel_x()+2048)/32, oriY+155+(15*(8)),oriX+30+(accel_x()+2048)/32,oriY+165+(15*(8)),RED);
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),BLACK,1.0);
analogs[9][1]='Y';
analogs[9][0]='A';
analogs[9][2]=':';
analogs[9][3]=' ';
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),WHITE,1.0);
convertNumToString(accel_y(),5,*analogs,10,9,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(9)),oriX+157, oriY+165+(15*(9)),GRAY);
graphics_line(oriX+30+(accel_y()+2048)/32, oriY+155+(15*(9)),oriX+30+(accel_y()+2048)/32,oriY+165+(15*(9)),RED);
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),BLACK,1.0);
analogs[10][1]='Z';
analogs[10][0]='A';
analogs[10][2]=':';
analogs[10][3]=' ';
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),WHITE,1.0);
convertNumToString(accel_z(),5,*analogs,10,10,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(10)),oriX+157, oriY+165+(15*(10)),GRAY);
graphics_line(oriX+30+(accel_z()+2048)/32, oriY+155+(15*(10)),oriX+30+(accel_z()+2048)/32,oriY+165+(15*(10)),RED);
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),BLACK,1.0);
NOBOLD g_printString("MOT PWM TPS ENCODER VAL",oriX+5, oriY+330,TEAL,1.0);
for(i=0;i<4;i++){
actuators[i][0]=48+i;
actuators[i][1]=':';
actuators[i][2]=' ';
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),WHITE,1.0);
convertNumToString(_bob.motor_pwm[i],4,*actuators,25,i,2);
convertNumToString(_bob.motor_tps[i],4,*actuators,25,i,7);
convertNumToString(_bob.motor_counter[i],10,*actuators,25,i,12);
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),BLACK,1.0);
}
if(_bob.enable_servos){
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,TEAL,1.0);
}
else {
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,TEAL,1.0);
}
for(i=0;i<4;i++){
servos[i][2]=49+i;//servos are 1 indexed!!
servos[i][3]=':';
servos[i][4]=' ';
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),WHITE,1.0);
convertNumToString(_bob.servo_targets[i],4,*servos,25,i,6);
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),BLACK,1.0);
}
}
