/*-----------------------------------------------------------------------------*/
void
iqRunDisplayHome( bool showExit = false )
{
static long nPgmStartTime = nPgmTime;
// display static text
displayStringAt( 1, LCD_ROW1, "Running" );
// Calculate robot running time
long secs = (nPgmTime - nPgmStartTime)/1000;
int mins = secs / 60;
int hours = mins / 60;
// display program running time
displayStringAt( 80, LCD_ROW1, "%02d:%02d:%02d", hours, mins % 60, secs % 60 );
// run/stop/exit select box
if( showExit )
iqDrawSelectButtonAndText( 0, 1, "Exit");
else
if( robotEnabled )
iqDrawSelectButtonAndText( 0, 1, "Stop");
else
iqDrawSelectButtonAndText( 0, 1, "Run ");
}
//Displays distance to light source **Only when driving towards light**
task distanceDisplay(){
SensorType[S2] = sensorEV3_Ultrasonic;
float distance;
while(true){
distance = SensorValue(S2);
//displays light distance
if(BrightLight >= 4 && BrightLight <= 6){
displayStringAt(70, 90, "Light Detected!");//Display
displayStringAt(70, 60, "Light Dist: %.2f",distance);//Display
}
//Erases display
else{
displayStringAt(70, 90, " ");//Display
displayStringAt(70, 60, " ");//Display
}
wait1Msec(100);
}
}
/*-----------------------------------------------------------------------------*/
void
iqDrawSelectButtonAndText( int xpos, int ypos, char *text )
{
drawLine( xpos+ 1, ypos, xpos+ 9, ypos );
drawLine( xpos+ 1, ypos+6, xpos+ 9, ypos+6 );
drawLine( xpos , ypos+1, xpos , ypos+5 );
drawLine( xpos+10, ypos+1, xpos+10, ypos+5 );
drawLine( xpos+ 2, ypos+3, xpos+ 4, ypos+1 );
drawLine( xpos+ 4, ypos+1, xpos+ 8, ypos+5 );
displayStringAt( xpos+12, ypos+6, text );
}
/*-----------------------------------------------------------------------------*/
void
iqDisplayLine( int row, bool select, char *str )
{
if( row < 0 || row > 43 )
return;
if( select ) {
fillRect( 0, row+1, 127, row-8);
displayInverseStringAt( 1, row, str );
}
else {
eraseRect( 0, row+1, 127, row-8);
displayStringAt( 1, row, str);
}
}
//Follow brightest light direction
void lightFollow(){
//Boleans for storing previous rotation direction
bool wasRotatingR, wasRotatingL;
//Displays brightest direction
displayStringAt(90, 120, "Light Dir = %d",BrightLight);//Display
//Display sound level label
displayStringAt(5, 120, "Sound Level");//Display
//rotate Left
if(BrightLight < 4 && BrightLight > 0){
motor[right] = 10;
motor[left] = -10;
//Find direction of rotation
wasRotatingR = false;
wasRotatingL = true;
}
//Rotate Right
else if(BrightLight > 6){
motor[right] = -10;
motor[left] = 10;
//Find direction of rotation
wasRotatingR = true;
wasRotatingL = false;
}
//Drive forward while slightly turning right
else if (BrightLight == 4){
//If robot was rotating than stop, so robot doesn't pass light direction
if(wasRotatingR || wasRotatingL){
//stop motors
motor[right] = 0;
motor[left] = 0;
wait1Msec(500);
}
//set right slightly faster than left for slow tilt
motor[right] = 30;
motor[left] = 28;
wasRotatingR = false;
wasRotatingL = false;
}
//Drive forward
else if (BrightLight == 5){
//If robot was rotating than stop, so robot doesn't pass light direction
if(wasRotatingR || wasRotatingL){
//stop motors
motor[right] = 0;
motor[left] = 0;
wait1Msec(500);
//play sound when directly following light
setSoundVolume(20);
//playSound
playSound(soundFastUpwardTones);
}
motor[right] = 30;
motor[left] = 30;
//Set both rotation values to false: robot is driving forward
wasRotatingR = false;
wasRotatingL = false;
}
//Drive forward while slightly turning left
else if (BrightLight == 6 ){
//If robot was rotating than stop, so robot doesn't pass light direction
if(wasRotatingR || wasRotatingL){
motor[right] = 0;
motor[left] = 0;
wait1Msec(500);
}
motor[right] = 28;
motor[left] = 30;
//Set both rotation values to false: robot is driving forward
wasRotatingR = false;
wasRotatingL = false;
}
//When no brightest light direction is detected, continue rotating in last
//rotation direction, or rotate left if robot wasn't previously rotating
else{
if(wasRotatingR){
motor[right] = -10;
motor[left] = 10;
}
else if(wasRotatingL){
motor[right] = 10;
motor[left] = -10;
}
else{
motor[right] = 10;
motor[left] = -10;
wasRotatingL = true;
}
}//end else
}//end light follow
