int main(void)
{
//setting up the timer and leds
setup();
//gives the robot time to accept the commands to make squares
delayMs(1000);
//sets the play and advance LEDs off and the power LED to red
robotLED(off, robotPowerRed, robotPowerOn);
while (1)
{
delayMs(100);
// Ask the robot about its bump sensors.
byteTx(opReadSensors); // Opcode for "Read sensors"
byteTx(packetButtons); // Sensor packet 7: Bumps and wheel drops
// Read the one-byte response and extract the relevant bits.
uint8_t buttons = byteRx();
uint8_t playButton = buttons & (1 << 0);
uint8_t advanceButton = buttons & (1 << 2);
//makes a square counterclockwise of legnth 250 mm at velocity 300 mm/s
if(advanceButton)
{
//turn on the advance LED on the robot and sets the power LED to
delayMs(500);
//turns on the advance LED and sets the power LED to green
robotLED(robotAdvanceLED, robotPowerGreen, robotPowerOn);
//makes a square countercolokwise with sides = 250mm at 300 mm/s
makeSquareCCW(300, 250);
}
//makes a square clockwise of legnth 250 mm at velocity 300 mm/s
if(playButton)
{
//turn on the play LED on the robot and sets the power LED to green
delayMs(500);
//turn on the play LED and sets the power LED to green
robotLED(robotPlayLED, robotPowerGreen, robotPowerOn);
//makes a square colokwise with sides = 250mm at 300 mm/s
makeSquareCW(300, 250);
}
//turns off the play LED and sets the pwer LED to red
robotLED(off, robotPowerRed, robotPowerOn);
}
}
int main() {
// Disable interrupts. ("Clear interrupt bit")
cli();
// One-time setup operations.
setupSerialPort();
setupRightLED();
setupLeftLED();
setupTimer();
// Enable interrupts. ("Set interrupt bit")
sei();
byteTx(128); // Start the open interface.
byteTx(132); // Switch to full Mode
while(2+2==4) {
delayMs(100);
// Ask the robot about its bump sensors.
byteTx(142); // Opcode for "Read sensors"
byteTx(7); // Sensor packet 7: Bumps and wheel drops
// Read the one-byte response and extract the relevant bits.
uint8_t bumps = byteRx();
uint8_t bumpRight = bumps & (1 << 0);
uint8_t bumpLeft = bumps & (1 << 1);
// Set the command module LEDs based on this sensor data.
if(bumpLeft) {
leftLEDon();
}
else {
leftLEDoff();
}
if(bumpRight) {
rightLEDon();
}
else {
rightLEDoff();
}
}
}
int main() {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// CSCE 274 students: I would make sure the robot stops.
// As a precaution for the robot and your grade.
//Doesn't need to stop for task 1 since it doesn't move.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something. I like red, but here is green.
// CSCE 274 students: The following should (will) be a function that you write.
changePowerLightRed(); //power light now red
// Initialize global variables
uint8_t bumpbyte, bumpLeft, bumpRight;
int rightLEDonInt = 0;
int leftLEDonInt = 1;
//call initial functions
//setup LEDs
setupRightLED();
setupLeftLED();
leftLEDon(); //start with left LED on
// Infinite operation loop
for(;;) {
while (!bumpRight && !bumpLeft) { //no bumps
//no bumps are rightLED on
if (rightLEDonInt == 1 && leftLEDonInt == 0 && !bumpRight && !bumpLeft) {
rightLEDoff();
rightLEDonInt = 0;
leftLEDon();
leftLEDonInt = 1;
} //no bumps and left LED on
else if (rightLEDonInt == 0 && leftLEDonInt == 1 && !bumpRight && !bumpLeft) {
rightLEDon();
rightLEDonInt = 1;
leftLEDoff();
leftLEDonInt = 0;
} //no bumps and LEDs off
else if (rightLEDonInt == 0 && leftLEDonInt == 0 && !bumpRight && !bumpLeft) {
rightLEDon();
rightLEDonInt = 1;
}//no bumps and both LEDs on
else if (rightLEDonInt == 1 && leftLEDonInt == 1 && !bumpRight && !bumpLeft) {
leftLEDon();
leftLEDonInt = 1;
}
delayMs(100); //delay for tenth of a second
//update bump sensors
byteTx(CmdSensors);
byteTx(SenOverC);
bumpbyte = byteRx();
bumpRight = bumpbyte & (1 << 0);
bumpLeft = bumpbyte & (1 << 1);
}
//update bump sensors again
byteTx(CmdSensors);
byteTx(SenOverC);
bumpbyte = byteRx();
bumpRight = bumpbyte & (1 << 0);
bumpLeft = bumpbyte & (1 << 1);
//turn on LEDs according to bump sensors
if (bumpRight) {
rightLEDon();
rightLEDonInt = 1;
} else {
rightLEDoff();
rightLEDonInt = 0;
}
if (bumpLeft) {
leftLEDon();
leftLEDonInt = 1;
} else {
leftLEDoff();
leftLEDonInt = 0;
}
delayMs(10);
if(UserButtonPressed) {
powerOffRobot();
exit(1);
}
}
}
