Esempio n. 1
0
int main()
{

  // Close the simpleterm half duplex connection
  simpleterm_close();

  // Start the sensor cog(s)
	cogstart(&pollPingSensors, NULL, pstack, sizeof pstack);

  // Blinken Lights!
  const int pauseTime = 50;
  const int startLED = 17; // 16 is used for the pollPingSensors cog to indicate activity.
  const int endLED = 23;
  high(startLED);
  pause(pauseTime);
  low(startLED);
  while(1) {
  pause(5);
  if(isActive == 1) {
      for (int led = startLED + 1; led <= endLED; led++) {
        high(led);
        pause(pauseTime);
        low(led);
      }
      for (int led = endLED - 1; led >= startLED; led--) {
        high(led);
        pause(pauseTime);
        low(led);
      }
    isActive = 0;
    }
  }
}
Esempio n. 2
0
void MessageStart()
{
    lock = locknew();
    lockclr(lock);
    simpleterm_close();
    msg_serial = fdserial_open(31, 30, 0, 115200);    
    cogstart(&HandleSerial, NULL, msg_stack, sizeof(msg_stack));
}
void wifi_simpletermSuspend(void)
{
  if(wifi_comSelectPin != USB_PGM_TERM)                      
  {
    if(wifi_comSelectPin >= 0)
      high(wifi_comSelectPin);
  
    // Input prevents spurious nonprinting character in Wi-Fi-only mode on close.  
    input(wifi_pin_di);  
    simpleterm_close();
  }    
}  
Esempio n. 4
0
void cmd_init(int wifi_rx, int wifi_tx, int debug_rx, int debug_tx)
{
    // Close default same-cog terminal
    simpleterm_close();                         

    // Set to open collector instead of driven
    wifi = fdserial_open(wifi_rx, wifi_tx, 0b0100, 115200);

    // Generate a BREAK to enter CMD command mode
    pause(10);
    low(wifi_tx);
    pause(1);
    input(wifi_tx);
    pause(1);

    if (debug_tx != -1 && wifi_tx != debug_tx)
        debug = fdserial_open(debug_rx, debug_tx, 0, 115200);
    else
        debug = wifi;
}
void main()
{
  badge_setup();
  simpleterm_close();
  ir_start();
  ee_wipe();
  
  // Connection to host routine (FORCE CONNECTION TO HOST)
  port = fdserial_open(31, 30, 0, 115200);
  char_size(SMALL);
  cursor(2, 4);
  display("Connecting...");
  while(1)
  {
    dprint(port, "Propeller\n");
    pause(1000);  // We need this pause, since the host needs time to respond. 5 x 1 second = 10 second timeout
    if (fdserial_rxCount(port) == 0)
    {
      continue;
    }      
    else if (fdserial_rxCount(port) < 5)
    {
      fdserial_rxFlush(port);
      continue;
    }
    else dscan(port, "%s", handshake);
    // Attempt handshake and listen to response
    if (strcmp(handshake, "H0st") == 0)
    {
      break;
    }      
  }
  clear();
  
  while(1)
  {
    rgb(L, OFF);
    rgb(R, OFF);
        
    char_size(BIG);
    cursor(0, 0);
    display("HOTSPOT!");
    char_size(SMALL);
    cursor(4, 5);
    display("Start an");
    cursor(1, 6);
    display("interaction to");
    cursor(0, 7);
    display("upload your data");
    
    memset(&their, 0, sizeof(info));
    
    int t = CNT;
    int dt = CLKFREQ * 2;
    
    if (check_inbox() == 1)
    {
      clear();
      message_get(&their);
      ir_send(&my);
      
      char_size(SMALL);
      cursor(2, 2);
      display("Receiving...");
      
      while(1)
      {
        if (CNT - t > dt)
        {
          clear();
          char_size(SMALL);
          cursor(5, 2);
          display("ERROR!");
          cursor(0, 5);
          display("Please try again");
          dprint(port, "txBegin\n");  
          dprint(port, "Timeout\n");
          ee_wipe();
          clear_inbox();
          pause(2000);
          clear();
          break;
        }
        if (check_inbox() == 1)
        {
          t = CNT;
          message_get(&their);
          if(!strcmp(their.name, "txDone"))
          {
            char_size(SMALL);
            cursor(0, 5);
            display("Upload complete");
            dprint(port, "txBegin\n");
            ee_uploadContacts(port);
            ee_wipe();
            clear_inbox();
            pause(1000);
            clear();
            break;
          }
          ee_save(&their);
          dprint(port, "Name: %s\n", their.name);
          dprint(port, "Email: %s\n", their.email);       
        }
      }        
    }      
  }    
}  
int main(void)
{
  //drive_pins(12, 13);
  sirc_setTimeout(60);
  simpleterm_close();
  pause(100);
  term = fdserial_open(31, 30, 0, 115200);
  pause(100);
  drive_open();
  while(1)
  {
    dprint(term, "%c", CLS);
    button = sirc_button(10);
    if(button == PWR)
    {
      set_mode();
    } 
    switch(mode)
    {
      case 0:  
        switch(button)
        {
          case CH_UP:
            //drive_speed(100, 100);
            drive_speed(smul, smul);
            break;
          case CH_DN:
            //drive_speed(-100, -100);
            drive_speed(-smul, -smul);
            break;
          case VOL_DN:
            //drive_speed(-100, 100);
            drive_speed(-smul, smul);
            break;
          case VOL_UP:
            //drive_speed(100, -100);
            drive_speed(smul, -smul);
            break;
          default:
            //drive_speed(0, 0);
            drive_speed(0, 0);
          break;
        }
        break; 
      case 1:
        for(int i = 0; i < 4; i++)
        {
          dist[i] = ping_cm(14+i);
          //dprint(term, "%d=%03d\n", i, dist[i]);
          pause(10);
        }

        speedL = 0;
        speedR = 0;

        if(dist[BACK] < 30)
        {
          speedL += 100;
          speedR += 100;
        }
        if(dist[FRONT] < 30)
        {
          speedL -= 100;
          speedR -= 100;
        }
        if(dist[LEFT] < 30)
        {
          if(speedL == 0)
            speedL -= 100;
          else if(speedL < 0)
            //speedR += 200;  
            speedR += 50;  
          else if(speedL > 0)
            //speedR -= 200;  
            speedR -= 50;  
        }
        if(dist[RIGHT] < 30)
        {
          if(speedR == 0)
            speedR -= 100;
          else if(speedR < 0)
            //speedL += 200;  
            speedL += 50;  
          else if(speedR > 0)
            //speedL -= 200;  
            speedL -= 50;  
        }
        drive_speed(speedL, speedR);
        pause(100);
        break;
      case 2:
        smul = 50;
        mode = 0;
        break;
      case 3:
        smul = 100;
        mode = 0;
        break;
      /*  
      case 4:
        val = get_val();
        dprint(term, "val = %d\n", val);
        pause(3000);
      break;
      */
    }  
  }    
}      
Esempio n. 7
0
int main()
{
  //access the simpleIDE terminal
  simpleterm_close();
  //set full-duplex serialization for the terminal
  term = fdserial_open(31, 30, 0, 9600);

  char c;

  //servo_angle(16, gripDegree); //Orient gripper to half open on start
  //pause(3000);

  while (1)
  {
    c = fdserial_rxChar(term); //Get the character entered from the terminal
    if (c != -1)
    {
      //Use the below to see if any key input is being read by the terminal
      // dprint(term, "You typed: %c\n", c);

      //Link key presses to directional commands, and print the command to strings
      if (c == 'f') //press "f" fof forward
      {           
        Drive(ticks, ticks, maxSpeed);
        dprint(term, "ok\n");
      } 
      else if (c == 'b') //press "b" for backward
      { 
        Drive(-ticks, -ticks, maxSpeed);
        dprint(term, "ok\n");
      } 
      else if (c == 'r') //press "r" for right turn
      { 
        Drive(turnTick, -turnTick, maxTurnSpeed);
        dprint(term, "ok\n");
      } 
      else if (c == 'l') //press "l" for left turn
      { 
        Drive(-turnTick, turnTick, maxTurnSpeed);
        dprint(term, "ok\n");
      } 

      //Increasing and Decreasing Drive Speed
      else if (c == 'u') 
      {
        ticks = ticks + 2;
        if (ticks > maxSpeed) //clamp speed so it can't go over the maximum speed
        {
           ticks = maxSpeed;
        }
        dprint(term, "move_speed %d\n", ticks);
      } 
      else if (c == 'd') 
      {
        ticks = ticks - 2;
        if (ticks < minSpeed) //clamp speed so it can't go negative or 0
        {
          ticks = minSpeed;
        }
        dprint(term, "move_speed %d\n", ticks);
      }

      //Increase Turn Speed;
      else if (c == 't') 
      {
        turnTick = turnTick + 1;
        if (turnTick > maxTurnSpeed)
        {
          turnTick = maxTurnSpeed;
        }
        dprint(term, "turn_speed %d\n", turnTick);
      }
      
      //decrease turn speed
      else if (c == 'n')
      {
        turnTick = turnTick - 1;
        if (turnTick < minTurnSpeed)
          {
          turnTick = minTurnSpeed;
          }
        dprint(term, "turn_speed %d\n", turnTick);
      }

      else if (c == 'p') //ping distance
      {
        pingDistance = ping(8);
        dprint(term, "echo %d\n", pingDistance);
        dprint(term, "ok\n");
      }

      else if (c == 'k') // poke
      {
      }
      else if (c == 'o') //open gripper
      {
        gripState = 0;
        gripDegree = -1800;
      }
      else if (c == 'g') //close gripper
      {
        gripState = 1;
        gripDegree = 1800;
      }
    } // End of Read Character Function
  if (gripState != -1) 
  {
    Grip(gripDegree, 2000);
  }
  } // End of While Loop
} //End of Main Loop
void main()
{
  badge_setup();
  simpleterm_close();
  contacts_clearAll();
  preserve_header();
  CLKLIMIT = CLKFREQ * 2;
  
  // Connection to host routine (FORCE CONNECTION TO HOST)
  port = fdserial_open(31, 30, 0, 115200);
  text_size(SMALL);
  cursor(2, 4);
  oledprint("Connecting...");
  spkr = talk_run(9, 10);                    // Start talk process
  while(1)
  {
    dprint(port, "Propeller\n");
    pause(1000);  // We need this pause, since the host needs time to respond. 5 x 1 second = 10 second timeout
    if (fdserial_rxCount(port) == 0)
    {
      continue;
    }      
    else if (fdserial_rxCount(port) < 5)
    {
      fdserial_rxFlush(port);
      continue;
    }
    else dscan(port, "%s", handshake);
    // Attempt handshake and listen to response
    if (strcmp(handshake, "H0st") == 0)
    {
      break;
    }      
  }

  clear();
  
  talk_say(spkr, "heloa");
  while(1)
  {
    rgb(L, OFF);
    rgb(R, OFF);
    
    text_size(LARGE);
    cursor(0, 0);
    oledprint("HOTSPOT!");
    text_size(SMALL);
    cursor(4, 5);
    oledprint("Start an");
    cursor(1, 6);
    oledprint("interaction to");
    cursor(0, 7);
    oledprint("upload your data");
    
    char their_id[7];
    memset(&their_id, 0, 7);
    
    int t = CNT;
    char i_type[5];
    
    irscan("%s%s", their_id, i_type);
    
    if (strlen(their_id) > 0)
    {
      clear();
      eeprint("%s,%u,%s\n", their_id, 0, "INFO");
      irprint("%s\n%s\n", "htspt1", "DUMP");
      
      text_size(SMALL);
      cursor(2, 2);
      oledprint("Receiving...");
      
      while(1)
      {
        char b[128];
        memset(&b, 0, 128);
        irscan("%s", b);
        
        if (CNT - t > CLKLIMIT)
        {
          clear();
          text_size(LARGE);
          cursor(0, 0);
          oledprint(" ERROR");
          text_size(SMALL);
          cursor(0, 6);
          oledprint("Please try again");
          dprint(port, "txBegin\n");  
          dprint(port, "Timeout\n");
          contacts_clearAll();
          preserve_header();
          talk_say(spkr, "oops;/trae,-ugen");
          pause(2000);
          clear();
          break;
        }
        if (strlen(b) > 0)
        {
          t = CNT;
          if(!strcmp(b, "irDone"))
          {
            clear();
            text_size(LARGE);
            cursor(0, 0);
            oledprint("SUCCESS");
            text_size(SMALL);
            cursor(0, 6);
            oledprint("Upload complete");
            talk_say(spkr, "oakay;</aem,dun");
            dprint(port, "txBegin\n");
            upload_contacts(port);
            contacts_clearAll();
            preserve_header();
            pause(1000);
            clear();
            break;
          }
          save_contact(b); 
        }
      }        
    }      
  }    
}
terminal *simpleterm_reopen(int rxpin, int txpin, int mode, int baud)
{
  simpleterm_close();
  dport_ptr = serial_open(rxpin, txpin, mode, baud);
  return dport_ptr;
}