// Displays a welcome message and plays the initial music.
void initialize()
{
load_custom_characters(); // load the custom characters
play_from_program_space(welcome);
print_two_lines_delay_1s(welcome_line1,welcome_line2);
print_two_lines_delay_1s(demo_name_line1,demo_name_line2);
print_two_lines_delay_1s(instructions_line1,instructions_line2);
clear();
print_from_program_space(instructions_line3);
lcd_goto_xy(0,1);
print_from_program_space(instructions_line4);
while(!(wait_for_button_and_beep() & BUTTON_B));
play_from_program_space(thank_you_music);
print_two_lines_delay_1s(thank_you_line1,thank_you_line2);
}
// Initializes the 3pi, displays a welcome message, calibrates, and
// plays the initial music.
void initialize()
{
// This must be called at the beginning of 3pi code, to set up the
// sensors. We use a value of 2000 for the timeout, which
// corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor.
pololu_3pi_init(2000);
load_custom_characters(); // load the custom characters
play_from_program_space(welcome);
print_two_lines_delay_1s(welcome_line1,welcome_line2);
print_two_lines_delay_1s(demo_name_line1,demo_name_line2);
print_two_lines_delay_1s(instructions_line1,instructions_line2);
clear();
print_from_program_space(instructions_line3);
lcd_goto_xy(0,1);
print_from_program_space(instructions_line4);
while(!(wait_for_button_and_beep() & BUTTON_B));
play_from_program_space(thank_you_music);
print_two_lines_delay_1s(thank_you_line1,thank_you_line2);
}
// Initializes the 3pi, displays a welcome message, calibrates, and
// plays the initial music.
void initialize()
{
unsigned int counter; // used as a simple timer
unsigned int sensors[5]; // an array to hold sensor values
// This must be called at the beginning of 3pi code, to set up the
// sensors. We use a value of 2000 for the timeout, which
// corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor.
pololu_3pi_init(2000);
load_custom_characters(); // load the custom characters
// Play welcome music and display a message
print_from_program_space(welcome_line1);
lcd_goto_xy(0,1);
print_from_program_space(welcome_line2);
play_from_program_space(welcome);
delay_ms(1000);
clear();
print_from_program_space(demo_name_line1);
lcd_goto_xy(0,1);
print_from_program_space(demo_name_line2);
delay_ms(1000);
// Display battery voltage and wait for button press
while(!button_is_pressed(BUTTON_B))
{
int bat = read_battery_millivolts();
clear();
print_long(bat);
print("mV");
lcd_goto_xy(0,1);
print("Press B");
delay_ms(100);
}
// Always wait for the button to be released so that 3pi doesn't
// start moving until your hand is away from it.
wait_for_button_release(BUTTON_B);
delay_ms(1000);
// Auto-calibration: turn right and left while calibrating the
// sensors.
for(counter=0;counter<80;counter++)
{
if(counter < 20 || counter >= 60)
set_motors(40,-40);
else
set_motors(-40,40);
// This function records a set of sensor readings and keeps
// track of the minimum and maximum values encountered. The
// IR_EMITTERS_ON argument means that the IR LEDs will be
// turned on during the reading, which is usually what you
// want.
calibrate_line_sensors(IR_EMITTERS_ON);
// Since our counter runs to 80, the total delay will be
// 80*20 = 1600 ms.
delay_ms(20);
}
set_motors(0,0);
// Display calibrated values as a bar graph.
while(!button_is_pressed(BUTTON_B))
{
// Read the sensor values and get the position measurement.
unsigned int position = read_line(sensors,IR_EMITTERS_ON);
// Display the position measurement, which will go from 0
// (when the leftmost sensor is over the line) to 4000 (when
// the rightmost sensor is over the line) on the 3pi, along
// with a bar graph of the sensor readings. This allows you
// to make sure the robot is ready to go.
clear();
print_long(position);
lcd_goto_xy(0,1);
display_readings(sensors);
delay_ms(100);
}
wait_for_button_release(BUTTON_B);
clear();
print("Go!");
// Play music and wait for it to finish before we start driving.
play_from_program_space(go);
while(is_playing());
}
/** setup **********************************************************
* All the initialization goes here. It should be called once when
* the program starts up.
*
*/
void setup() {
pololu_3pi_init(2000); // library function that initializes sensors
load_custom_characters();
}
int main()
{
char buffer[20];
// load the bar graph
load_custom_characters();
// configure serial clock for 115.2 kbaud
serial_set_baud_rate(115200);
// wait for the device to show up
while(1)
{
clear();
print("Master");
delay_ms(100);
serial_send("\x81",1);
if(serial_receive_blocking(buffer, 6, 50))
continue;
clear();
print("Connect");
lcd_goto_xy(0,1);
buffer[6] = 0;
print(buffer);
// clear the slave's LCD and display "Connect" and "OK" on two lines
// Put OK in the center to test x-y positioning
slave_clear();
slave_print("Connect");
slave_lcd_goto_xy(3,1);
slave_print("OK");
// play a tune
char tune[] = "\xB3 l16o6gab>c";
tune[1] = sizeof(tune)-3;
serial_send_blocking(tune,sizeof(tune)-1);
// wait
wait_for_button(ANY_BUTTON);
// reset calibration
slave_reset_calibration();
time_reset();
slave_auto_calibrate();
unsigned char speed1 = 0, speed2 = 0;
// read sensors in a loop
while(1)
{
serial_send("\x87",1); // returns calibrated sensor values
// read 10 characters
if(serial_receive_blocking(buffer, 10, 100))
break;
// get the line position
serial_send("\xB6", 1);
int line_position[1];
if(serial_receive_blocking((char *)line_position, 2, 100))
break;
// get the battery voltage
serial_send("\xB1",1);
// read 2 bytes
int battery_millivolts[1];
if(serial_receive_blocking((char *)battery_millivolts, 2, 100))
break;
// display readings
display_levels((unsigned int*)buffer);
lcd_goto_xy(5,0);
line_position[0] /= 4; // to get it into the range of 0-1000
if(line_position[0] == 1000)
line_position[0] = 999; // to keep it to a maximum of 3 characters
print_long(line_position[0]);
print(" ");
lcd_goto_xy(0,1);
print_long(battery_millivolts[0]);
print(" mV ");
delay_ms(10);
// if button A is pressed, increase motor1 speed
if(button_is_pressed(BUTTON_A) && speed1 < 127)
speed1 ++;
else if(speed1 > 1)
speed1 -= 2;
else if(speed1 > 0)
speed1 = 0;
// if button C is pressed, control motor2
if(button_is_pressed(BUTTON_C) && speed2 < 127)
speed2 ++;
else if(speed2 > 1)
speed2 -= 2;
else if(speed2 > 0)
speed2 = 0;
// if button B is pressed, do PID control
if(button_is_pressed(BUTTON_B))
slave_set_pid(40, 1, 20, 3, 2);
else
{
slave_stop_pid();
slave_set_motors(speed1, speed2);
}
}
}
while(1);
}
