/*** get keypad input ****/
void get_keypad_input() {
char keypad_key;
keypad_enable();
while(training) {
keypad_key=getkey(); // get value from keypad
wait_keyup();
lcd_init();
set_lcd_addr(0x00);
if(keypad_key==1) { // 1 = forward
move_forward();
}else if(keypad_key==4) { // 4 = left
move_left();
}else if(keypad_key==7) { // 7 = right
move_right();
}else if(keypad_key==0) { // 0 = reverse
move_reverse();
}else if(keypad_key==6) { // 7 = pause
move_pause();
}else if(keypad_key==9) { // break out of training mode
training=0;
move_stop();
display_movement(&stop_training);
break;
}else{
display_movement(&error);
}
ms_delay(50);
}
}
/*** Playback Robot ***/
void playback_robot(){
while(playback) {
int i=0;
display_movement(&start_playback);
/* pull from array */
for(i=0; i<=array_length; i++) {
int direction=array1[i];
if(direction == 1) {
move_forward();
}else if(direction == 2) {
move_left();
}else if(direction == 3) {
move_right();
}else if(direction == 4) {
move_reverse();
}else if(direction == 5) {
move_pause();
}else if((direction == 0) || (direction == 9)) {
playback=0;
display_movement(&stop_playback);
break;
} else {
playback=0;
break;
}
if(SW5_down()){ //switch5 stop playback mode
playback=0;
display_movement(&stop_playback);
}
}
}
}
void display_text(void)
{
//draws logo
draw_sprite(buffer, LOGO, 92, 5);
//displays whose move it is
if(player == 0)
draw_sprite(buffer, PL1, 10, 90);
else
draw_sprite(buffer, PL2, 10, 90);
//if valid move displays blue marker
if(grid[spotx][spoty] == 'x' || grid[spotx][spoty] == 'o')
display_movement();
//displays invalid move
else if((mouse_x >= GX_START - 46 && mouse_x <= GX_END) &&
(mouse_y >= GY_START - 46 && mouse_y <= GY_END))
{
if(player == 0)
draw_sprite(buffer, INVALID, 29, 110);
else
draw_sprite(buffer, INVALID, 29, 110);
}
}
/*** Move pause ***/
void move_pause() {
display_movement(&pause);
MOTORDDR=0xFF; // enable motor port as output
MOTORPORT=0xFF;
ms_delay(2000);
if(training) {
add_to_array(5); // if training mode boolean is 1, add direction to array
}
move_stop(); // turn off all motor ports
}
/*** Move right ***/
void move_right() {
int i=0;
for(i=0; i!=1; i++) {
display_movement(&right);
MOTORDDR=0xFF; // enable motor port as output
MOTORPORT=0xFB; // turn on motor port(1)
ms_delay(850);
}
if(training) { // if training mode boolean is 1, add direction to array
add_to_array(3);
}
move_stop();
}
/************** MAIN **************/
void main(void)
{
seg7_disable();
/* Stop Motors on initial load */
MOTORDDR=0xFF; // enable motor port as output
MOTORPORT=0xFF; // turn off all motor ports
lcd_init(); // initialize lcd
set_lcd_addr(0x00); // set starting lcd address
/* check training or playback mode */
while(1){
if(SW2_down()){ // switch2 starts training mode
playback=0;
training=1;
display_movement(&start_training);
}
if(SW3_down()){ // switch3 stops training mode
training=0;
display_movement(&stop_training);
}
if(SW4_down()){ // switch4 starts playback mode
if(array_length) {
training=0;
playback=1;
} else {
display_movement(&array_empty);
}
}
if(SW5_down()){ // switch5 erases array
playback=0;
array_length=0; // reset array counter
memset(array1, 9, sizeof(array1)); // reset array
display_movement(&stop_playback);
}
get_keypad_input();
playback_robot();
}
}
/*** Move forward ***/
void move_forward() {
int i=0;
int sensor_detect=0;
for(i=0; i!=8; i++) { // loop 8 times and detect objects every 250 ms
display_movement(&forward);
/* Detect any objects in the way */
sensor_detect = get_sensor_data();
while(sensor_detect){
MOTORPORT=0xFF;
//stop execution of queue
ms_delay(250);
sensor_detect = get_sensor_data();
}
MOTORDDR=0xFF; // enable motor port as output
MOTORPORT=0xFA; // turn on motor port(0)
ms_delay(250);
}
if(training) { // if training mode boolean is 1, add direction to array
add_to_array(1);
}
move_stop();
}
/*** Move stop ***/
void move_stop() {
display_movement(&stop);
MOTORDDR=0xFF; // enable motor port as output
MOTORPORT=0xFF; // turn off all motor ports
}
