/****************************************************************************
Function
Check4Lock
Parameters
None
Returns
bool: true if a new event was detected
Description
Sample event checker grabbed from the simple lock state machine example
Notes
will not compile, sample only
Author
J. Edward Carryer, 08/06/13, 13:48
****************************************************************************/
bool Check4Lock(void)
{
static uint8_t LastPinState = 0;
uint8_t CurrentPinState;
bool ReturnVal = false;
CurrentPinState = LOCK_PIN;
// check for pin high AND different from last time
// do the check for difference first so that you don't bother with a test
// of a port/variable that is not going to matter, since it hasn't changed
if ( (CurrentPinState != LastPinState) &&
(CurrentPinState == LOCK_PIN_HI) )
{ // event detected, so post detected event
ES_Event ThisEvent;
ThisEvent.EventType = ES_LOCK;
ThisEvent.EventParam = 1;
// this could be any of the service post function, ES_PostListx or
// ES_PostAll functions
ES_PostList01(ThisEvent);
ReturnVal = true;
}
LastPinState = CurrentPinState; // update the state for next time
return ReturnVal;
}
boolean Check4PositionFound(void)
{
boolean ReturnVal = False;
float CurrentXPosition = accessXPosition();
float CurrentYPosition = accessYPosition();
float CurrentBotOrientation = accessAngle();
// check for pin high and different from last time
if ( (CurrentXPosition != LastXPosition) ||
(CurrentYPosition != LastYPosition) ||
(CurrentBotOrientation != LastBotOrientation) )
{
ES_Event ThisEvent;
ThisEvent.EventType = POSITION_FOUND;
ES_PostList01(ThisEvent);
ReturnVal = True;
//ReturnVal = False;
}
LastXPosition = CurrentXPosition;
LastYPosition = CurrentYPosition;
LastBotOrientation = CurrentBotOrientation;
return ReturnVal;
}
boolean BinChecker(void)
{
unsigned int CurrentBin1Status;
unsigned int CurrentBin2Status;
unsigned int CurrentBin3Status;
unsigned int CurrentBin4Status;
boolean ReturnVal = False;
CurrentBin1Status = queryFSR( BIN1 );
CurrentBin2Status = queryFSR( BIN2 );
CurrentBin3Status = queryFSR( BIN3 );
CurrentBin4Status = queryFSR( BIN4 );
if ( (CurrentBin1Status != LastBin1Status)|
(CurrentBin2Status != LastBin2Status)|
(CurrentBin3Status != LastBin3Status)|
(CurrentBin4Status != LastBin4Status) )
{
ES_Event ThisEvent;
ThisEvent.EventType = BIN_CHANGED;
if (CurrentBin1Status != LastBin1Status)
{
ThisEvent.EventParam = 1;
} else if(CurrentBin2Status != LastBin2Status)
{
ThisEvent.EventParam = 2;
} else if(CurrentBin3Status != LastBin3Status)
{
ThisEvent.EventParam = 3;
} else
{
ThisEvent.EventParam = 4;
}
ES_PostList01(ThisEvent);
ReturnVal = True;
}
LastBin1Status = CurrentBin1Status;
LastBin2Status = CurrentBin2Status;
LastBin3Status = CurrentBin3Status;
LastBin4Status = CurrentBin4Status;
return ReturnVal;
}
boolean WallAngleChecker(void)
{
unsigned int CurrentWallAngleStatus;
boolean ReturnVal = False;
CurrentWallAngleStatus = queryFSR( WALL_ANGLE );
if ( (CurrentWallAngleStatus != LastWallAngleStatus) )
{
ES_Event ThisEvent;
ThisEvent.EventType = WALL_MOVED;
ThisEvent.EventParam = (CurrentWallAngleStatus - LastWallAngleStatus);
ES_PostList01(ThisEvent);
ReturnVal = True;
}
LastWallAngleStatus = CurrentWallAngleStatus;
return ReturnVal;
}
boolean KeyStrokeEvents(void)
{
ES_Event ThisEvent;
int KeyStroke;
ThisEvent.EventType = ES_NO_EVENT;
if ( kbhit() != 0) // there was a key pressed
{
KeyStroke = getchar();
switch ( toupper(KeyStroke))
{
case 'A' :
ThisEvent.EventType = HONE_BIN1;
IsIR_StepperEvent= True;
break;
case 'B' :
ThisEvent.EventType = HONE_BIN2;
IsIR_StepperEvent= True;
break;
case 'C' :
ThisEvent.EventType = HONE_BIN3;
IsIR_StepperEvent= True;
break;
case 'D' :
ThisEvent.EventType = HONE_BIN4;
IsIR_StepperEvent= True;
break;
case 'E' :
ThisEvent.EventType = STOP_STEPPING;
IsIR_StepperEvent= True;
break;
case 'F' :
ThisEvent.EventType = DEPOSIT_TIME;
IsThinkTankEvent = True;
break;
case 'G' :
ThisEvent.EventType = FAVORITE_BIN_THREATENED;
IsThinkTankEvent = True;
break;
case 'H' :
ThisEvent.EventType = BIN_CHOSEN;
ThisEvent.EventParam = 1;
IsThinkTankEvent = True;
break;
case 'I' :
ThisEvent.EventType = DEPOSIT_COMMAND;
/*IsTankEvent = True;*/ break;
case 'J' :
ThisEvent.EventType = WALL_CHOSEN;
ThisEvent.EventParam = LEFT;
IsThinkTankEvent = True;
break;
case 'K' :
ThisEvent.EventType = EPIC_PUSH_FAIL;
IsThinkTankEvent = True;
break;
case 'L' :
ThisEvent.EventType = GOAL_ANGLE_ACHIEVED;
IsThinkTankEvent = True;
break;
case 'M' :
ThisEvent.EventType = WALL_THREATENS_HOPPER;
IsTankEvent = True;
break;
case 'N' :
ThisEvent.EventType = WALL_NO_LONGER_THREATENS_HOPPER;
IsTankEvent = True;
break;
case 'O' :
ThisEvent.EventType = RIGHT_ZEROED;
IsTankEvent = True;
break;
case 'P' :
ThisEvent.EventType = LEFT_ZEROED;
IsTankEvent = True;
break;
case 'Q' :
ThisEvent.EventType = START_CALIBRATING_HOPPER;
IsTankEvent = True;
break;
case 'R' :
ThisEvent.EventType = ARRIVED;
IsThinkTankEvent = True;
break;
case 'S' :
ThisEvent.EventType = ROTATION_COMPLETE;
IsThinkTankEvent = True;
break;
case 'T' :
ThisEvent.EventType = GO_TO_LOW_COMMAND;
break;
case 'U' :
ThisEvent.EventType = BALLS_IN_PLAY;
break;
case 'X' :
ThisEvent.EventType = POSITION_FOUND;
/*IsThinkTankEvent = True;*/ break;
case 'Y' :
ThisEvent.EventType = FIND_POSITION;
IsIR_StepperEvent= True;
break;
case 'Z' :
ThisEvent.EventType = ZERO_FOUND;
break;
}
if (IsTankEvent)
{
ES_PostList00(ThisEvent);
IsTankEvent = False;
} else if (IsIR_StepperEvent)
{
ES_PostList06(ThisEvent);
IsIR_StepperEvent = False;
}
else if (IsThinkTankEvent)
{
ES_PostList01(ThisEvent);
IsThinkTankEvent = False;
}
else
{
ES_PostList02(ThisEvent);
ES_PostList06(ThisEvent);
}
printf("posted\n\r");
return(True);
}
return(False);
}
