//-------------------------------------------------------------
void ofApp::handleMessage(ofxOscMessage m) {
string send_string;
string address_string;
string ip_string;
ip_string = "/" + ofSplitString( ofToString(m.getRemoteIp()), ".")[3];
// check for battery message
if(m.getAddress() == "/battery"){
if(m.getArgType(0) == OFXOSC_TYPE_FLOAT){
// construct OSC message to send
sendBattery( ip_string, m.getArgAsFloat(0));
}
}
// check for blob message
else if(m.getAddress() == "/inputs/serial/1") {
for(int i = 0; i < m.getNumArgs(); i++){
// get the argument type
if(m.getArgType(i) == OFXOSC_TYPE_BLOB){
string blob = m.getArgAsBlob(0);
vector<string> parameters = ofSplitString(blob, ",");
if( parameters.size() >= 5 ) {
int distance = ofToInt(parameters[0]);
int velocity = ofToInt(parameters[1]);
int azimuth = ofToInt(parameters[2]);
int elevation = ofToInt(parameters[3]);
float angularRate = ofToFloat(parameters[4]);
// send osc messages
sendDistance(ip_string, distance);
sendVelocity(ip_string, velocity);
sendAzimuth(ip_string, azimuth);
sendElevation(ip_string, elevation);
sendAngularRate(ip_string, angularRate);
}
}
}
}
}
//#pragma code highPriorityInterruptAddress=0x0008
//void high_interrupt(void)
//{
// _asm GOTO highPriorityIsr _endasm
//}
//
//#pragma code
void main(void){
//Default
TRISD = 0x00; //set port D signals to output
menu_ref_1=1;
menu_ref_2=0;
/*zone of disgust*/
values[MAXSPEED]=100; //Max speed
values[PIDGAINS]=100; //PID Gains
values[MAXYAW]=100; //Max Yaw
values[IRSAMPE]=10; //ir_samp_e;
values[IRSAMPR]=20; //ir_samp_r;
values[IRRAW]=60; //ir_raw
values[IRAVG]=10; //ir_avg;
/*****************/
setupSerial();
Lcd_Init();
ADC_setup();
Button_Setup();
welcome();
LCD_disp(menu_ref_1, menu_ref_2);
RUN=0;
while(1){
//NORMAL OPERATION
while(RUN==0){
if(PORTDbits.RD0 == 0)
{
mode_button = 1;
}
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (mode_button==1){ //Mode change sequence
checkMode(menu);
menu_ref_2=0; //Default menu ref, should only be SPEED
delayms(200);
mode_button=0;
LCD_disp(menu_ref_1, menu_ref_2);
}
delayms(200); //Used to prevent double tapping
//possibly new function
switchChannels(0);
joy_x = doADC();
switchChannels(1);
joy_y = doADC();
if(menu_ref_1==MANUAL) //IF IN MANUAL
{
if(joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200); //Delay to prevent flickering, and also to prevent 100-0 increments
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //increment value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200);
}
}
else if(menu_ref_1==FACTORY){ //IF IN FACTORY MODE
if (joy_y>=UP){ //User pushes left joystick UP
//Circular selection
if(menu_ref_2==0){
menu_ref_2=4;
}
else{
menu_ref_2--; //switched the order of this to prevent overflow
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250); //Arbitrary delay of 250 milliseconds
}
else if (joy_y<=DOWN){ //User pushes left joystick DOWN
menu_ref_2++;
//Circular selection
if(menu_ref_2>=7){
menu_ref_2=1;
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250);
}
else if (joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
}
//All other menu_ref_1's do not have values displayed
if (motor_button==1){
motor_button=0;
RUN=1;
}
//send here
}
/*Menu on setup*/
if (RUN==1){
on_setup();
GLOBAL_RUN = RUN;
sendRun();
//MOTOR ON GOES AFTER
motor_button=0;
}
/*MOTOR ON BEHAVIOUR*/
while(RUN==1){
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (motor_button==1){ //At interrupt, stop motor and return to menu
motor_button=0;
RUN=0;
GLOBAL_RUN = RUN;
sendRun();
}
switchChannels(0);
//GLOBAL_VELOCITY = doADC(); GLOBAL_VELOCITY = doADC() //Get joystick values
joy_y = doADC();
GLOBAL_VELOCITY = joy_y;
switchChannels(1);
joy_x = doADC();
GLOBAL_OMEGA = joy_x;
sendVelocity();
sendOmega();
//send command here
}
/*MOTOR OFF MESSAGE*/
RUN=0;
//MOTOR OFF FUNCTION GOES BEFORE MESSAGE
LCD_title(t5); //"Whoa!"
delays(2); //safety delay
LCD_disp(menu_ref_1, menu_ref_2); //Return to normal display
}
}
