void init()
{
//initialise colour sensor
sensorInit();
//iniitalise interface
InterfaceInit();
//initialise servos for seperator and sorter
servoInit();
// Configure button S1 interrupt
GPIO_selectInterruptEdge(GPIO_PORT_P1, GPIO_PIN3, GPIO_LOW_TO_HIGH_TRANSITION);
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN3);
GPIO_clearInterrupt(GPIO_PORT_P1, GPIO_PIN3);
GPIO_enableInterrupt(GPIO_PORT_P1, GPIO_PIN3);
// Configure button S2 interrupt
GPIO_selectInterruptEdge(GPIO_PORT_P1, GPIO_PIN4, GPIO_LOW_TO_HIGH_TRANSITION);
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN4);
GPIO_clearInterrupt(GPIO_PORT_P1, GPIO_PIN4);
GPIO_enableInterrupt(GPIO_PORT_P1, GPIO_PIN4);
}
sgIP_Hub_HWInterface *
sgIP_Hub_AddHardwareInterface (int (*TransmitFunction)
(sgIP_Hub_HWInterface *, sgIP_memblock *),
int (*InterfaceInit) (sgIP_Hub_HWInterface *))
{
hw.TransmitFunction = TransmitFunction;
if (InterfaceInit)
InterfaceInit (&hw);
return &hw;
}
int MinuiBackendAdf::DeviceInit(adf_device* dev) {
adf_id_t intf_id;
int err = adf_find_simple_post_configuration(dev, &format, 1, &intf_id, &eng_id);
if (err < 0) return err;
err = adf_device_attach(dev, eng_id, intf_id);
if (err < 0 && err != -EALREADY) return err;
intf_fd = adf_interface_open(dev, intf_id, O_RDWR);
if (intf_fd < 0) return intf_fd;
err = InterfaceInit();
if (err < 0) {
close(intf_fd);
intf_fd = -1;
}
return err;
}
ModuleInterface::Status ModuleInterface::Init(){
Status res = STATUS_ERROR;
switch(mSystemState){
case SYSSTATE_NONE:
if(!bIsControlInterface){
if(sMainControlInterface!=NULL){
if(sMainControlInterface->mClock!=NULL) SetExternalClock(sMainControlInterface->mClock);
else SetExternalClock(&sMainControlInterface->mInternalClock);
}
}
res = InterfaceInit();
if(res==STATUS_OK){
mSystemState = SYSSTATE_STOPPED;
}
break;
case SYSSTATE_STOPPED:
res = STATUS_OK;
break;
case SYSSTATE_STARTED:
res = STATUS_OK;
break;
}
return res;
}
int main(void)
{
pthread_t Thread_ID;
// Connect to the robot
if (!RobotInit("/dev/ttyAMA0"))
{
puts("Error : can't connect to the robot.");
return -1;
}
// Create threads
if (pthread_create(&Thread_ID, NULL, ThreadReadBatteryVoltage, NULL) != 0)
{
puts("Error : can't create battery voltage thread.");
return -1;
}
// Initialize interface
if (!InterfaceInit())
{
puts("Error : can't initialize interface. Make sure ncurses library is installed.");
return -1;
}
InterfaceDisplayHints();
while (1)
{
switch (getchar())
{
case 'z':
InterfaceDisplayDirection("FORWARD");
RobotSetMotion(ROBOT_MOTION_FORWARD);
break;
case 's':
InterfaceDisplayDirection("BACKWARD");
RobotSetMotion(ROBOT_MOTION_BACKWARD);
break;
case 'q':
InterfaceDisplayDirection("LEFT");
RobotSetMotion(ROBOT_MOTION_FORWARD_TURN_LEFT);
break;
case 'd':
InterfaceDisplayDirection("RIGHT");
RobotSetMotion(ROBOT_MOTION_FORWARD_TURN_RIGHT);
break;
// Stop robot
case ' ':
InterfaceDisplayDirection("STOPPED");
RobotSetMotion(ROBOT_MOTION_STOPPED);
break;
// Increase left motor forward speed
case 'u':
InterfaceDisplaySpeed("Left forward faster");
RobotChangeMotorSpeed(ROBOT_MOTOR_LEFT, ROBOT_MOTOR_DIRECTION_FORWARD, 1);
break;
// Decrease left motor forward speed
case 'j':
InterfaceDisplaySpeed("Left forward slower");
RobotChangeMotorSpeed(ROBOT_MOTOR_LEFT, ROBOT_MOTOR_DIRECTION_FORWARD, 0);
break;
// Increase right motor forward speed
case 'i':
InterfaceDisplaySpeed("Right forward faster");
RobotChangeMotorSpeed(ROBOT_MOTOR_RIGHT, ROBOT_MOTOR_DIRECTION_FORWARD, 1);
break;
// Decrease right motor forward speed
case 'k':
InterfaceDisplaySpeed("Right forward slower");
RobotChangeMotorSpeed(ROBOT_MOTOR_RIGHT, ROBOT_MOTOR_DIRECTION_FORWARD, 0);
break;
// Increase left motor backward speed
case 'o':
InterfaceDisplaySpeed("Left backward faster");
RobotChangeMotorSpeed(ROBOT_MOTOR_LEFT, ROBOT_MOTOR_DIRECTION_BACKWARD, 1);
break;
// Decrease left motor backward speed
case 'l':
InterfaceDisplaySpeed("Left backward slower");
RobotChangeMotorSpeed(ROBOT_MOTOR_LEFT, ROBOT_MOTOR_DIRECTION_BACKWARD, 0);
break;
// Increase right motor backward speed
case 'p':
InterfaceDisplaySpeed("Right backward faster");
RobotChangeMotorSpeed(ROBOT_MOTOR_RIGHT, ROBOT_MOTOR_DIRECTION_BACKWARD, 1);
break;
// Decrease right motor backward speed
case 'm':
InterfaceDisplaySpeed("Right backward slower");
RobotChangeMotorSpeed(ROBOT_MOTOR_RIGHT, ROBOT_MOTOR_DIRECTION_BACKWARD, 0);
break;
// Exit
case 'x':
RobotSetMotion(ROBOT_MOTION_STOPPED);
RobotSetLedState(0);
InterfaceTerminate();
return 0;
}
}
}
temtab::temtab(QWidget *parent)
{
InterfaceInit();
}
