/*****************************************************************************
*
* Description:
* A process entry function
*
* Params:
* [in] arg - This parameter is not used in this application.
*
****************************************************************************/
static void proc2(void* arg) {
// testJoy();
tU32 oldIOPIN, tmp;
/* read input from joystick */
IODIR &= ~0x001f0000;
messageOnLCD("Joystick works!", TRUE);
/* joystick support */
tU32 oldMove;
int i = 0, j = 0, h = 0;
for (;;) {
// printf("IOPIN = %d",(IOPIN));
oldIOPIN = IOPIN;
osSleep(10);
if (IOPIN == 1589624063) {
printf("work");
}
tmp = (oldIOPIN & ~IOPIN);// & 0x001f0000;
printf("tmp = %d", tmp);
printf("\n");
// if( oldMove != tmp)
// oldMove = tmp;`
// if(tmp != 0x00000000) {
// if(tmp == 0x00020000) {
// messageOnLCD("Gora",TRUE);
// }
// else if(tmp == 0x00040000) messageOnLCD("Prawo",TRUE);
// else if(tmp == 0x00100000)
// {
// messageOnLCD("Dol",TRUE);
// }
// else if(tmp == 0x00080000) messageOnLCD("Lewo",TRUE);
// else if(tmp == 0x00010000) messageOnLCD("Center",TRUE);
// }
// if(tmp != 0) {
if (tmp == 131072)
{
messageOnLCD("up", TRUE);
if(h<8)
h++;
testLedMatrix(h);
led(h);
// IODIR0 |= BUZZ_PIN; //Select the Buzzer pin as Output
// IOPIN0 &= ~(BUZZ_PIN); //Clear the Buzzer pin
//
// while(1)
// {
// IOPIN0 |= BUZZ_PIN; //Set the Buzzer pin High
// osSleep(25);
// //_DelayMs(250); //A Delay
// IOPIN0 &= ~BUZZ_PIN; //Set the Buzzer pin Low
// //_DelayMs(250); //A Delay
// osSleep(25);
// }
}
else if (tmp == 262144) {
messageOnLCD("right", TRUE);
} else if (tmp == 16384) {
messageOnLCD("button", TRUE);
} else if (tmp == 524288) {
messageOnLCD("left", TRUE);
} else if (tmp == 65536) {
messageOnLCD("Center", TRUE);
testMotor(0);
} else if (tmp == 1048576)
messageOnLCD("down", TRUE);
if(h>0)
h--;
testLedMatrix(h);
led(h);
// }
// else
// {
// messageOnLCD("NIC",TRUE);
// }
}
osDeleteProcess();
}
task main()
{
textToAdd = "system test initialized.";
addLog();
textToAdd = "using I2C functions.";
addLog();
textToAdd = "waiting 5 seconds for the arm to reset...";
addLog();
for (int i = 0; i < 5000; i++)
{
Arm_Update();
Sleep(1);
}
textToAdd = "moving the arm to a sane place...";
addLog();
Arm_SetSpeed(15);
for (int i = 0; i < 30; i++)
{
Arm_Update();
Sleep(1);
}
textToAdd = "testing encoders...";
addLog();
textToAdd = "using daisychain 1, motor 1.";
addLog();
testEncoder(1, 1);
textToAdd = "using daisychain 1, motor 2.";
addLog();
testEncoder(1, 2);
textToAdd = "using daisychain 2, motor 1.";
addLog();
testEncoder(2, 1);
textToAdd = "using daisychain 2, motor 2.";
addLog();
testEncoder(2, 2);
wait5();
textToAdd = "testing motors...";
addLog();
textToAdd = "using daisychain 1, motor 1.";
addLog();
textToAdd = "running at power level 100.";
addLog();
testMotor(1, 1);
textToAdd = "using daisychain 1, motor 1.";
addLog();
textToAdd = "running at power level 100.";
addLog();
testMotor(1, 2);
textToAdd = "using daisychain 1, motor 1.";
addLog();
textToAdd = "running at power level 100.";
addLog();
testMotor(2, 1);
textToAdd = "using daisychain 2, motor 2.";
addLog();
textToAdd = "running at power level 100.";
addLog();
testMotor(2, 2);
wait5();
textToAdd = "testing servos...";
addLog();
textToAdd = "using daisychain 3, servo 1.";
addLog();
testservo(3, 1);
textToAdd = "physical systems check complete.";
addLog();
textToAdd = "software systems check unimplemented.";
addLog();
textToAdd = "systems check complete.";
addLog();
}
