task main () {
nNxtButtonTask = -2;
nxtDisplayCenteredTextLine(0, "Mindsensors");
nxtDisplayCenteredBigTextLine(1, "Angle");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
nxtDisplayCenteredTextLine(0, "GlideWheel-AS");
nxtDisplayTextLine(1, "-------------------");
nxtDisplayTextLine(5, "-------------------");
while (true) {
// Reset the angle to 0
if (nNxtButtonPressed == kEnterButton)
{
MSANGresetAngle(MSANG);
while (nNxtButtonPressed != kNoButton) EndTimeSlice();
}
// Read the current angle, accumulated angle and RPM and display them
nxtDisplayTextLine(2, "Ang: %7d deg", MSANGreadAngle(MSANG));
nxtDisplayTextLine(3, "Raw: %7d", MSANGreadRaw(MSANG));
nxtDisplayTextLine(4, "RPM: %7d", MSANGreadRPM(MSANG));
nxtDisplayTextLine(7, " Reset angle");
wait1Msec(50);
}
}
// Allow the user to calibrate the scales
void calibrateScales()
{
int calibrateWeight = 0;
eraseDisplay();
nxtDisplayCenteredTextLine(0, "GlideWheel-AS");
nxtDisplayCenteredTextLine(2, "Place the object");
nxtDisplayCenteredTextLine(3, "on the scales");
nxtDisplayCenteredTextLine(4, "and press");
nxtDisplayCenteredTextLine(5, "[enter]");
nxtDisplayCenteredTextLine(6, "to calibrate");
while (nNxtButtonPressed != kEnterButton) EndTimeSlice();
debounce();
eraseDisplay();
calibrateWeight = weighObject();
nxtDisplayCenteredTextLine(0, "GlideWheel-AS");
nxtDisplayCenteredTextLine(2, "Enter the weight");
nxtDisplayCenteredTextLine(3, "in grams");
nxtDisplayCenteredTextLine(7, "- OK +");
while (true)
{
nxtDisplayCenteredBigTextLine(5, "%d", calibrateWeight);
switch(nNxtButtonPressed)
{
case kLeftButton:
PlayTone(500,10);
calibrateWeight--;
calibrateWeight = max2(0, calibrateWeight);
break;
case kRightButton:
PlayTone(1000,10);
calibrateWeight++;
break;
case kEnterButton:
PlayTone(1500,10);
gramsPerUnit = (float)calibrateWeight / (float)MSANGreadRaw(MSANG);
eraseDisplay();
return;
}
wait1Msec(20);
debounce();
}
}
// Get the current weight of the object
short weighObject()
{
return max2(0, round(MSANGreadRaw(MSANG) * gramsPerUnit));
}