static void CheckButton(void) { uint32_t timeTicks; /* time in ticks */ #define BUTTON_CNT_MS 100 /* iteration count for button */ bool autoCalibrate = FALSE; if (SW1_GetVal()==0) { /* button pressed */ /* short press (1 beep): start or stop line following if calibrated * 1 s press (2 beep): calibrate manually * 2 s press (3 beep): calibrate with auto-move * 3 s press (4 beep or more): clear path * */ FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* simple debounce */ if (SW1_GetVal()==0) { /* still pressed */ LEDG_On(); timeTicks = 0; while(SW1_GetVal()==0 && timeTicks<=6000/BUTTON_CNT_MS) { FRTOS1_vTaskDelay(BUTTON_CNT_MS/portTICK_RATE_MS); if ((timeTicks%(1000/BUTTON_CNT_MS))==0) { #if PL_HAS_BUZZER BUZ_Beep(300, 200); #endif } timeTicks++; } /* wait until released */ autoCalibrate = FALSE; if (timeTicks<1000/BUTTON_CNT_MS) { /* less than 1 second */ CLS1_SendStr((unsigned char*)"button press.\r\n", CLS1_GetStdio()->stdOut); StateMachine(TRUE); /* <1 s, short button press, according to state machine */ } else if (timeTicks>=(1000/BUTTON_CNT_MS) && timeTicks<(2000/BUTTON_CNT_MS)) { CLS1_SendStr((unsigned char*)"calibrate.\r\n", CLS1_GetStdio()->stdOut); APP_StateStartCalibrate(); /* 1-2 s: start calibration by hand */ } else if (timeTicks>=(2000/BUTTON_CNT_MS) && timeTicks<(3000/BUTTON_CNT_MS)) { CLS1_SendStr((unsigned char*)"auto calibrate.\r\n", CLS1_GetStdio()->stdOut); APP_StateStartCalibrate(); /* 2-3 s: start auto calibration */ autoCalibrate = TRUE; } else if (timeTicks>=(3000/BUTTON_CNT_MS)) { CLS1_SendStr((unsigned char*)"delete solution.\r\n", CLS1_GetStdio()->stdOut); MAZE_ClearSolution(); } while (SW1_GetVal()==0) { /* wait until button is released */ FRTOS1_vTaskDelay(BUTTON_CNT_MS/portTICK_RATE_MS); } if (autoCalibrate) { CLS1_SendStr((unsigned char*)"start auto-calibration...\r\n", CLS1_GetStdio()->stdOut); /* perform automatic calibration */ WAIT1_WaitOSms(1500); /* wait some time */ TURN_Turn(TURN_LEFT90); TURN_Turn(TURN_RIGHT90); TURN_Turn(TURN_RIGHT90); TURN_Turn(TURN_LEFT90); TURN_Turn(TURN_STOP); APP_StateStopCalibrate(); CLS1_SendStr((unsigned char*)"auto-calibration finished.\r\n", CLS1_GetStdio()->stdOut); } } } /* if */ }
uint8_t MAZE_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) { uint8_t res = ERR_OK; if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"maze help")==0) { MAZE_PrintHelp(io); *handled = TRUE; } else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"maze status")==0) { MAZE_PrintStatus(io); *handled = TRUE; } else if (UTIL1_strcmp((char*)cmd, (char*)"maze clear")==0) { MAZE_ClearSolution(); *handled = TRUE; } return res; }
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) { #if PL_CONFIG_HAS_SHELL uint8_t buf[48]; #endif uint8_t val; int16_t x, y, z; (void)size; (void)packet; switch(type) { #if PL_CONFIG_HAS_MOTOR case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */ { int8_t x, y; int16_t x1000, y1000; *handled = TRUE; x = *data; /* get x data value */ y = *(data+1); /* get y data value */ if (REMOTE_isVerbose) { UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"x/y: "); UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)x); UTIL1_chcat(buf, sizeof(buf), ','); UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)y); UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n"); SHELL_SendString(buf); } #if 0 /* using shell command */ UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty "); UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x)); SHELL_ParseCmd(buf); UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty "); UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y)); SHELL_ParseCmd(buf); #endif /* filter noise around zero */ if (x>-5 && x<5) { x = 0; } if (y>-5 && y<5) { y = 0; } x1000 = scaleJoystickTo1K(x); y1000 = scaleJoystickTo1K(y); if (REMOTE_useJoystick) { REMOTE_HandleMotorMsg(y1000, x1000, 0); /* first param is forward/backward speed, second param is direction */ } } break; #endif case RAPP_MSG_TYPE_JOYSTICK_BTN: *handled = TRUE; val = *data; /* get data value */ #if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE if (val=='F') { /* F button, toggle remote*/ SHELL_ParseCmd((unsigned char*)"buzzer buz 300 500"); DRV_SetMode(DRV_MODE_SPEED); } else if (val=='G') { /* center joystick button: horn*/ SHELL_ParseCmd((unsigned char*)"buzzer buz 2000 300"); } else if (val=='A') { MAZE_ClearSolution(); MAZE_SetSolveAlgorithm(STRAIGHT_HAND); LF_StartFollowing(); } else if (val=='C') { /* 'C' button: motor stop*/ DRV_SetMode(DRV_MODE_STOP); } else if (val=='B') { /* 'B' button: start right-hand algorithm */ MAZE_ClearSolution(); MAZE_SetSolveAlgorithm(RIGHT_HAND); LF_StartFollowing(); } else if (val=='D') { /* 'D' button: start left-hand algorithm */ MAZE_ClearSolution(); MAZE_SetSolveAlgorithm(LEFT_HAND); LF_StartFollowing(); } else if (val=='E') { REF_CalibrateStartStop(); } #else *handled = FALSE; /* no shell and no buzzer? */ #endif break; default: break; } /* switch */ return ERR_OK; }
void MAZE_Init(void) { MAZE_ClearSolution(); }
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) { #if PL_CONFIG_HAS_SHELL uint8_t buf[48]; #endif uint8_t val; int16_t x, y, z; (void)size; (void)packet; switch(type) { #if PL_CONFIG_HAS_MOTOR case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */ { int8_t x, y; int16_t x1000, y1000; *handled = TRUE; x = *data; /* get x data value */ y = *(data+1); /* get y data value */ if (REMOTE_isVerbose) { UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"x/y: "); UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)x); UTIL1_chcat(buf, sizeof(buf), ','); UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)y); UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n"); SHELL_SendString(buf); } #if 0 /* using shell command */ UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty "); UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x)); SHELL_ParseCmd(buf); UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty "); UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y)); SHELL_ParseCmd(buf); #endif /* filter noise around zero */ if (x>-5 && x<5) { x = 0; } if (y>-15 && y<5) { y = 0; } x1000 = scaleJoystickTo1K(x); y1000 = scaleJoystickTo1K(y); if (REMOTE_useJoystick) { REMOTE_HandleMotorMsg(y1000, x1000, 0); /* first param is forward/backward speed, second param is direction */ } } break; #endif case RAPP_MSG_TYPE_JOYSTICK_BTN: *handled = TRUE; val = *data; /* get data value */ #if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE if (val=='F') { /* F button - disable remote, drive mode none */ DRV_SetMode(DRV_MODE_NONE); REMOTE_SetOnOff(FALSE); SHELL_SendString("Remote OFF\r\n"); } else if (val=='G') { /* center joystick button: enable remote */ REMOTE_SetOnOff(TRUE); #if PL_CONFIG_HAS_DRIVE DRV_SetMode(DRV_MODE_SPEED); #endif SHELL_SendString("Remote ON\r\n"); } #if PL_CONFIG_HAS_LINE_MAZE else if (val=='A') { /* green 'A' button */ SHELL_SendString("Button A pressed\r\n"); // Start Maze solving if(!LF_IsFollowing()){ LF_StartFollowing(); } } else if (val=='K') { /* green A button longpress -> 'K' */ SHELL_SendString("Clear Maze\r\n"); // Clear old maze solution, ready for restart MAZE_ClearSolution(); } else if (val =='B'){ /* yellow 'B' button */ SHELL_SendString("Right hand rule!\r\n"); LF_SetRule(FALSE); } else if (val=='E') { /* button 'E' pressed */ SHELL_SendString("Stop Following! \r\n"); if(LF_IsFollowing()){ LF_StopFollowing(); } } else if (val=='D') { /* blue 'D' button */ SHELL_SendString("Left hand rule!\r\n"); LF_SetRule(TRUE); } #endif else if (val=='C') { /* red 'C' button */ NITRO = TRUE; SHELL_SendString("Nitrooooooo!!!\r\n"); BUZ_Beep(1000,1000); } else if (val=='J') { /* button 'C' released */ NITRO = FALSE; SHELL_SendString("Stop Nitro \r\n"); } #else *handled = FALSE; /* no shell and no buzzer? */ #endif break; default: break; } /* switch */ return ERR_OK; }