int mainControlInit(void)
{
ROTATION_DIAMETER = sqrt(pow(WHEELS_DISTANCE, 2) + pow(WHEELS_SPACING, 2));
motorsInit();
encodersInit();
mulimeterInit();
telemetersInit();
speedControlInit();
positionControlInit();
wallFollowControlInit();
lineFollowControlInit();
transfertFunctionInit();
wallSensorInit();
adxrs620Init();
speed_params.initial_speed = 0;
control_params.wall_follow_state = 0;
control_params.position_state = 0;
control_params.speed_state = 0;
control_params.line_follow_state = 0;
return MAIN_CONTROL_E_SUCCESS;
}
int mainControlInit(void)
{
pid_loop.start_state = FALSE;
ROTATION_DIAMETER = sqrt(pow(WHEELS_DISTANCE, 2) + pow(WHEELS_SPACING, 2));
motorsInit();
encodersInit();
telemetersInit();
adxrs620Init();
speedControlInit();
positionControlInit();
wallFollowControlInit();
lineFollowControlInit();
transfertFunctionInit();
positionControlSetPositionType(ENCODERS);
mainControlSetFollowType(NO_FOLLOW);
mainControlSetMoveType(STRAIGHT);
control_params.wall_follow_state = 0;
control_params.line_follow_state = 0;
return MAIN_CONTROL_E_SUCCESS;
}
void testPostSensors()
{
telemetersInit();
telemetersStart();
while (expanderJoyFiltered() != JOY_LEFT)
{
ssd1306ClearScreen(MAIN_AREA);
if (fabs(getTelemeterSpeed(TELEMETER_DL)) > 500)
{
ssd1306FillRect(0, 58, 5, 5);
}
// else
// {
// ssd1306DrawRect(0,49,5,5);
// }
// ssd1306FillRect(0,0,5,5);
// ssd1306DrawRect(0,0,5,5);
if (fabs(getTelemeterSpeed(TELEMETER_DR)) > 500)
{
ssd1306FillRect(49, 58, 5, 5);
}
// else
// {
// ssd1306DrawRect(49,49,5,5);
// }
// ssd1306FillRect(49,49,5,5);
//
// ssd1306DrawRect(49,49,5,5);
//
// ssd1306FillRect(49,0,5,5);
//
// ssd1306DrawRect(49,0,5,5);
ssd1306PrintIntAtLine(55, 1, "FL", (int32_t) getTelemeterSpeed(TELEMETER_FL), &Font_5x8);
ssd1306PrintIntAtLine(55, 2, "FR", (int32_t) getTelemeterSpeed(TELEMETER_DL), &Font_5x8);
ssd1306PrintIntAtLine(55, 3, "DL", (int32_t) getTelemeterSpeed(TELEMETER_DR), &Font_5x8);
ssd1306PrintIntAtLine(55, 4, "DR", (int32_t) getTelemeterSpeed(TELEMETER_FR), &Font_5x8);
ssd1306Refresh();
}
telemetersStop();
}
void testWallsSensors()
{
telemetersInit();
telemetersStart();
while (expanderJoyFiltered() != JOY_LEFT)
{
ssd1306ClearScreen(MAIN_AREA);
if (getWallPresence(FRONT_WALL) == TRUE)
{
ssd1306FillRect(0, 59, 54, 5);
}
else
{
ssd1306DrawRect(0, 59, 54, 5);
}
if (getWallPresence(LEFT_WALL) == TRUE)
{
ssd1306FillRect(0, 10, 5, 54);
}
else
{
ssd1306DrawRect(0, 10, 5, 54);
}
if (getWallPresence(RIGHT_WALL) == TRUE)
{
ssd1306FillRect(49, 10, 5, 54);
}
else
{
ssd1306DrawRect(49, 10, 5, 54);
}
ssd1306PrintIntAtLine(60, 1, "FL ", (uint32_t) (getTelemeterDist(TELEMETER_FL) * 10.00), &Font_5x8);
ssd1306PrintIntAtLine(60, 2, "DL ", (uint32_t) (getTelemeterDist(TELEMETER_DL) * 10.00), &Font_5x8);
ssd1306PrintIntAtLine(60, 3, "DR ", (uint32_t) (getTelemeterDist(TELEMETER_DR) * 10.00), &Font_5x8);
ssd1306PrintIntAtLine(60, 4, "FR ", (uint32_t) (getTelemeterDist(TELEMETER_FR) * 10.00), &Font_5x8);
ssd1306Refresh();
}
telemetersStop();
}