/**
* Runs the main part of the program. Note it is an infinite loop.
* @author Group B1
* @date 12/4/2012
*/
void run_robot(oi_t *oi)
{
int x = STARTING_X_POS;
int y = STARTING_Y_POS;
int o = STARTING_ORENTATION;
int msg = 0;
while(1){
char c = read_one_char();
oi_update(oi);
printf("11 %d\n", oi->virtual_wall);
lprintf("\n Group B1\n\n\n\n");
lprintf("%d %d %d %d\n%d", oi->cliff_left_signal , oi->cliff_frontleft_signal , oi->cliff_frontright_signal , oi->cliff_right_signal, oi->virtual_wall );
if( oi->cliff_left_signal > 1000 && oi->cliff_frontleft_signal > 1000 && oi->cliff_frontright_signal > 1000 && oi->cliff_right_signal > 1000 ){
printf("10\n");
}
if(c == FORWARD)
{
if(move_forward(oi, DEFAULT_DISTANCE) >= DEFAULT_DISTANCE){
if(o == NORTH){
y = y + 1 * STEP;
}
else if(o == EAST){
x = x + 1 * STEP;
}
else if(o == SOUTH){
y = y - 1 * STEP;
}
else if(o == WEST){
x = x - 1 * STEP;
}
printf("2 %d %d %d %d\n", x,y,o,msg);
}
}
else if(c == RIGHT_TURN)
{
turn_clockwise();
if(o == NORTH){
o = WEST;
}
else if(o == EAST){
o = NORTH;
}
else if(o == SOUTH){
o = EAST;
}
else if(o == WEST){
o = SOUTH;
}
printf("2 %d %d %d %d\n", x,y,o,msg);
}
else if(c == LEFT_TURN)
{
turn_counter_clockwise();
if(o == NORTH){
o = EAST;
}
else if(o == EAST){
o = SOUTH;
}
else if(o == SOUTH){
o = WEST;
}
else if(o == WEST){
o = NORTH;
}
printf("2 %d %d %d %d\n", x,y,o,msg);
}
else if(c == RESET)
{
move_servo(0);
x = STARTING_X_POS;
y = STARTING_Y_POS;
o = STARTING_ORENTATION;
msg = 0;
printf("2 %d %d %d %d\n", x,y,o,msg);
}
else if(c == MUSIC)
{
load_song();
oi_play_song(JAWS);
}
else if(c == SCAN)
{
oi_update(oi);
printf("1 %d %d %d %d %d ", oi->virtual_wall ,x,y,o,msg);
for(int i = 0 ; i <= 1800 ;i = i + 1)
{
move_servo(i * 1);
int x = ir_distance();
printf("%d ", x);
}
printf("\n");
move_servo(0);
}
}
}
/**
*
* Function to control the iRobot depending on the character pressed, call it like keyboardInput(serial_getc());
* @param c the character that would determine if the iRobot moves, uses serial_getc()
*/
void keyboardInput(char c)
{
// toggle precision mode, if activated, move is 5 cm and 5 degrees
if(c == 'T')
{
if(precision == 0){
serial_puts("PRECISION ACTIVATED\n\r\n\r");
precision = 1;
}
else{
serial_puts("PRECISION DEACTIVATED\n\r\n\r");
precision = 0;
}
}
// move the iRobot forward, 10 cm
else if(c == 'W')
{
if(precision)
{
serial_puts("MOVING FORWARD 5 CM\n\r\n\r");
moveFowardUpdate(sensor_data, 5);
}
else
{
serial_puts("MOVING FORWARD 10 CM\n\r\n\r");
moveFowardUpdate(sensor_data, 10);
}
wait_ms(100);
}
// move the iRobot backwards, 10 cm
else if(c == 'S')
{
if(precision)
{
serial_puts("MOVING BACKWARD 5 CM\n\r\n\r");
moveBackward(sensor_data, 5);
}
else
{
serial_puts("MOVING BACKWARD 10 CM\n\r\n\r");
moveBackward(sensor_data, 10);
}
wait_ms(100);
}
// rotate the iRobot counter clockwise, 15 degrees
else if(c == 'A')
{
if(precision)
{
serial_puts("TURNING COUNTER CLOCKWISE 5 DEGREES\n\r\n\r");
turn_counter_clockwise(sensor_data, 5); // TODO
}
else
{
serial_puts("TURNING COUNTER CLOCKWISE 15 DEGREES\n\r\n\r");
turn_counter_clockwise(sensor_data, 15); // TODO
}
wait_ms(100);
}
// rotate the iRobot clockwise, 15 degrees
else if(c == 'D')
{
if(precision)
{
serial_puts("TURNING CLOCKWISE 5 DEGREEES\n\r\n\r");
turn_clockwise(sensor_data, 5); // TODO
}
else
{
serial_puts("TURNING CLOCKWISE 15 DEGREEES\n\r\n\r");
turn_clockwise(sensor_data, 15); // TODO
}
wait_ms(100);
}
// start sweeping for ir and sonar data
else if(c == ' ')
{
oi_play_song(0);
serial_puts("SWEEPING FOR OBJECTS\n\r");
smallestObjectSweep();
wait_ms(100);
}
// clear screen
else if(c == '-')
{
clearScreen();
wait_ms(100);
}
// finish command
else if(c == 'f')
{
if(serial_getc == 'i')
{
if(serial_getc == 'n')
{
if(serial_getc == 'i')
{
if(serial_getc == 's')
{
if(serial_getc == 'h')
{
isFinished = 1;
}
}
}
}
}
}
// if any other key is pressed, nothing happens
}
