int main() { // char bufferDebug[80]; int selector; //init e_init_port(); e_init_uart1(); e_init_motors(); selector=getselector(); if (selector==0) { run_breitenberg_follower(); } else if (selector==1) { finding_light(); } else if (selector==2) { avoid_light(); } else if (selector==3) { run_breitenberg_shocker(); } else if (selector==4) { followHand(); }else{ } while(1); }
/*! \brief The "main" function of the follower demo */ void run_breitenberg_follower(void) { e_init_port(); e_init_motors(); e_init_ad_scan(ALL_ADC); e_calibrate_ir(); e_activate_agenda(k2000_led, 2500); e_activate_agenda(follow_neuron, 650); e_start_agendas_processing(); while(1); }
/*! \brief The "main" function of the avoider demo */ void run_breitenberg_shocker(void) { e_init_port(); e_init_motors(); e_init_ad_scan(ALL_ADC); e_calibrate_ir(); e_activate_agenda(flow_led, 900); e_activate_agenda(shock_neuron, 650); e_start_agendas_processing(); while(1); }
void robot_off(void) { e_init_port(); e_init_motors(); e_init_ad_scan(ALL_ADC); e_calibrate_ir(); e_start_agendas_processing(); while (1) { e_led_clear(); wait(10000); } }
int main(void) { e_init_port(); e_init_motors(); e_init_ad_scan(ALL_ADC); e_calibrate_ir(); int selector=getselector(); switch (selector) { case 0:robot_off();break; case 1:aggressive();break; case 2:fear();break; case 3:curious();break; case 4:love();break; case 5:robot_off();break; default:/*own high level behaviour*/break; } }
void run_braitenberg() { int i; int sensor; char buffer[80]; int leftwheel, rightwheel; // Init sensors e_init_port(); e_init_motors(); e_init_prox(); // Calibrate sensors e_set_led(8, 1); braitenberg_sensor_calibrate(); e_set_led(8, 0); // while (1) { leftwheel=200; rightwheel=200; for (i=0; i<8; i++) { sensor=e_get_prox(i)-braitenberg_sensorzero[i]; sprintf(buffer, "%d, ", sensor); e_send_uart1_char(buffer, strlen(buffer)); leftwheel+=braitenberg_weightleft[i]*(sensor>>4); rightwheel+=braitenberg_weightright[i]*(sensor>>4); } sprintf(buffer, "setspeed %d %d\r\n", leftwheel, rightwheel); e_send_uart1_char(buffer, strlen(buffer)); if (leftwheel>800) {leftwheel=800;} if (rightwheel>800) {rightwheel=800;} if (leftwheel<-800) {leftwheel=-800;} if (rightwheel<-800) {rightwheel=-800;} e_set_speed_left(leftwheel); e_set_speed_right(rightwheel); wait(100000); } }
// Main program int main() { int speedl = 0; int speedr = 0; int oldSpeedl = 0; int oldSpeedr = 0; int counter = 0; int step = 0; int avdStep = 0; int state = STATE; int oldState = STATE; int sensor[8], value, maxSensorValue; int i; int trajl[TRAJ_LEN] = {6,9,9,6, 7,6,3,3, 6,6,6,3, 3,3,6,6, 6,3,3}; int trajr[TRAJ_LEN] = {6,3,3,6, 7,6,9,9, 6,6,6,9, 9,9,6,6, 6,9,9}; // Initialize system and sensors e_init_port(); e_init_uart1(); e_init_motors(); e_init_ad_scan(); // Reset if Power on (some problem for few robots) if (RCONbits.POR) { RCONbits.POR = 0; __asm__ volatile ("reset"); }
void run_wallfollow() { int leftwheel, rightwheel; // motor speed left and right int distances[NB_SENSORS]; // array keeping the distance sensor readings int i; // FOR-loop counters int gostraight; int loopcount; e_init_port(); e_init_motors(); //e_init_ad_scan(ALL_ADC); //e_init_ad_scan(); follow_sensor_calibrate(); loopcount=0; while (1) { followGetSensorValues(distances); // read sensor values gostraight=0; if ((followgetSelectorValue() & 0x0001) == RIGHT_FOLLOW) { e_set_led(6,0); e_set_led(2,1); for (i=0; i<8; i++) { if (distances[i]>50) {break;} } if (i==8) { gostraight=1; } else { follow_weightleft[0]=-10; follow_weightleft[7]=-10; follow_weightright[0]=10; follow_weightright[7]=10; if (distances[2]>300) { distances[1]-=200; distances[2]-=600; distances[3]-=100; } } } else { e_set_led(6,1); e_set_led(2,0); for (i=0; i<8; i++) { if (distances[i]>50) {break;} } if (i==8) { gostraight=1; } else { follow_weightleft[0]=10; follow_weightleft[7]=10; follow_weightright[0]=-10; follow_weightright[7]=-10; if (distances[5]>300) { distances[4]-=100; distances[5]-=600; distances[6]-=200; } } } leftwheel=BIAS_SPEED; rightwheel=BIAS_SPEED; if (gostraight==0) { for (i=0; i<8; i++) { leftwheel+=follow_weightleft[i]*(distances[i]>>4); rightwheel+=follow_weightright[i]*(distances[i]>>4); } } // set robot speed followsetSpeed(leftwheel, rightwheel); wait(15000); } }
int main() { // init robot e_init_port(); e_init_ad_scan(); e_init_uart1(); e_led_clear(); e_init_motors(); e_start_agendas_processing(); // wait for s to start btcomWaitForCommand('s'); btcomSendString("==== READY - IR TESTING ====\n\n"); e_calibrate_ir(); // initialize ircom and start reading ircomStart(); ircomEnableContinuousListening(); ircomListen(); // rely on selector to define the role int selector = getselector(); // show selector choosen int i; long int j; for (i = 0; i < selector; i++) { e_led_clear(); for(j = 0; j < 200000; j++) asm("nop"); e_set_led(i%8, 1); for(j = 0; j < 300000; j++) asm("nop"); e_led_clear(); for(j = 0; j < 300000; j++) asm("nop"); } // activate obstacle avoidance e_activate_agenda(obstacleAvoidance, 10000); // acting as sender if (selector == 1) { btcomSendString("==== EMITTER ====\n\n"); int i; for (i = 0; i < 10000; i++) { // takes ~15knops for a 32window, avoid putting messages too close... for(j = 0; j < 200000; j++) asm("nop"); ircomSend(i % 256); while (ircomSendDone() == 0); btcomSendString("."); } } // acting as receiver else if (selector == 2) { btcomSendString("==== RECEIVER ====\n\n"); int i = 0; while (i < 200) { // ircomListen(); IrcomMessage imsg; ircomPopMessage(&imsg); if (imsg.error == 0) { int val = (int) imsg.value; /* Send Value*/ char tmp[128]; sprintf(tmp, "Receive successful : %d - distance=%f \t direction=%f \n", val, (double)imsg.distance, (double)imsg.direction); btcomSendString(tmp); } else if (imsg.error > 0) { btcomSendString("Receive failed \n"); } // else imsg.error == -1 -> no message available in the queue if (imsg.error != -1) i++; } } // no proper role defined... else { int i = 0; long int j; while(1) { e_led_clear(); for(j = 0; j < 200000; j++) asm("nop"); e_set_led(i, 1); for(j = 0; j < 300000; j++) asm("nop"); i++; i = i%8; } } ircomStop(); return 0; }
int main(void) { int cam_mode,cam_x1,cam_y1,cam_width,cam_heigth,cam_zx,cam_zy; if(getSelector() == 0) return; char c; int i;//buff_length; //int wait_cam; //defining the position of the several inputs and outputs (motors are outputs) in the respective SFR //the SFR are programed as structures, so accessing to an input/output implies only acessing to the field of the structure corresponding to the SFR that was //assigned to that input/output (see epuck_ports.h and p30f6014.h to understand the SFR assignment) e_init_port(); e_init_motors(); //important to enable uart interface e_init_uart1(); e_init_ad_scan(ALL_ADC); e_calibrate_ir(); //initial configuration of the camera cam_x1=(ARRAY_WIDTH/Z_WIDTH-WIDTH)/2; cam_y1=(ARRAY_HEIGHT/Z_HEIGHT-HEIGHT)/2; cam_width=WIDTH; cam_heigth=HEIGHT; cam_zx=Z_WIDTH; cam_zy=Z_HEIGHT; cam_mode=MODE; if(cam_mode==GREY_SCALE_MODE) cam_size=cam_width*cam_heigth; else cam_size=cam_width*cam_heigth*2; //not waiting for camera wait_cam=0; e_activate_agenda(updateFlag, 500);//500//1000 e_activate_agenda(readValues, 10); e_start_agendas_processing(); keepFinding = 0; e_set_led(4,1); keepFinding = 1; int s = getSelector(); while(s==getSelector()); /*while(1){ sprintf(b1,"%i\n",e_get_calibrated_prox(S_FRONT_LEFT)); e_send_uart1_char(b1,10); while(e_uart1_sending()); }*/ while(1){ while(keepFinding) { if(!cameraOn) { startCamera(); correctRobot(); } while(!captura()); //e_send_uart1_char(buffer,buff_length); //while(e_uart1_sending()); if(cameraOn > 5) processaImagem(); cameraOn++; } if(cameraOn) stopCamera(); while(!flag); flag = 0; sendInputs(); readOrder(); readOrder(); e_set_speed_left(speedLeft); e_set_speed_right(speedRight); e_set_led(4,0); } return 0; }
/*! \brief The "main" function of the program */ void run_wallfollow() { int leftwheel, rightwheel; // motor speed left and right int distances[NB_SENSORS]; // array keeping the distance sensor readings int i; // FOR-loop counters int gostraight; int loopcount; unsigned char selector_change; e_init_port(); e_init_ad_scan(ALL_ADC); e_init_motors(); e_start_agendas_processing(); //follow_sensor_calibrate(); e_activate_agenda(left_led, 2500); e_activate_agenda(right_led, 2500); e_pause_agenda(left_led); e_pause_agenda(right_led); e_calibrate_ir(); loopcount=0; int selectionValue; // selector_change = !(followgetSelectorValue() & 0x0001); e_set_steps_right(0); selectionValue = followgetSelectorValue(); while (doesWallExist(selectionValue)) { followGetSensorValues(distances); // read sensor values gostraight=0; if (selectionValue == 1) { //// if(selector_change == LEFT_FOLLOW) { // selector_change = RIGHT_FOLLOW; e_led_clear(); e_pause_agenda(left_led); e_restart_agenda(right_led); // } for (i=0; i<8; i++) { if (distances[i]>50) {break;} } if (i==8) { gostraight=1; } else { follow_weightleft[0]=-10; follow_weightleft[7]=-10; follow_weightright[0]=10; follow_weightright[7]=10; if (distances[2]>300) { distances[1]-=200; distances[2]-=600; distances[3]-=100; } } } else { // if(selector_change == RIGHT_FOLLOW) { // selector_change = LEFT_FOLLOW; e_led_clear(); e_pause_agenda(right_led); e_restart_agenda(left_led); // } for (i=0; i<8; i++) { if (distances[i]>50) {break;} } if (i==8) { gostraight=1; } else { follow_weightleft[0]=10; follow_weightleft[7]=10; follow_weightright[0]=-10; follow_weightright[7]=-10; if (distances[5]>300) { distances[4]-=100; distances[5]-=600; distances[6]-=200; } } } leftwheel=BIAS_SPEED; rightwheel=BIAS_SPEED; if (gostraight==0) { for (i=0; i<8; i++) { leftwheel+=follow_weightleft[i]*(distances[i]>>4); rightwheel+=follow_weightright[i]*(distances[i]>>4); } } // set robot speed followsetSpeed(leftwheel, rightwheel); wait(15000); //doesWallExist(selectionValue); } }
/*! \brief The "main" function of the demo */ void run_accelerometer() { int accx, accy, accz; long ampl; long amplavg; // char buffer[80]; int state; int lednum; double angle; int soundsel; // Init sound e_init_port(); e_init_ad_scan(ALL_ADC); e_init_sound(); #ifdef MOVE e_init_motors(); e_start_agendas_processing(); #endif // Calibrate accelerometers e_set_led(8, 1); e_acc_calibr(); e_set_led(8, 0); #ifdef MOVE // Move forwards e_set_speed_left(100); e_set_speed_right(100); #endif // Detect free fall and shocks state=STATE_NORMAL; amplavg=1000; while (1) { accx = e_get_acc(0); accy = e_get_acc(1); accz = e_get_acc(2) + 744; //744 is 1g if ((accz<0) && (accz>-600)) {accz=0;} ampl=((long)(accx)*(long)(accx))+((long)(accy)*(long)(accy))+((long)(accz)*(long)(accz)); amplavg=(amplavg>>2)+ampl; if (! e_dci_unavailable) { if (state!=STATE_NORMAL) { state=STATE_NORMAL; e_set_led(8, 0); e_set_body_led(0); } } if (amplavg<1000) { if (state!=STATE_FREEFALL) { state=STATE_FREEFALL; e_stop_flag=1; while (e_dci_unavailable); // sprintf(buffer, "Free fall: %ld, (%d, %d, %d) -> (%ld)\r\n", amplavg, accx, accy, accz, ampl); // e_send_uart1_char(buffer, strlen(buffer)); e_play_sound(11028, 8016); e_set_body_led(1); e_set_led(8, 0); } } else if (amplavg>4000000) { if (state!=STATE_SHOCK) { state=STATE_SHOCK; e_stop_flag=1; while (e_dci_unavailable); // sprintf(buffer, "Shock: %ld, (%d, %d, %d) -> (%ld)\r\n", amplavg, accx, accy, accz, ampl); // e_send_uart1_char(buffer, strlen(buffer)); soundsel=(accx & 3); if (soundsel==0) { e_play_sound(0, 2112); } else if (soundsel==1) { e_play_sound(2116, 1760); } else { e_play_sound(3878, 3412); } e_set_body_led(0); angle=atan2(accy, accx); lednum=floor(atan2(accy, accx)/PI*4+PI/2+PI/8); while (lednum>8) {lednum=lednum-8;} while (lednum<0) {lednum=lednum+8;} // sprintf(buffer, "(x=%d, y=%d) -> angle=%f, led=%d\r\n", accx, accy, angle, lednum); // e_send_uart1_char(buffer, strlen(buffer)); e_set_led(lednum, 1); } } } }
int main() { /*system initialization */ e_init_port(); /* Init UART1 for bluetooth */ e_init_uart1(); /* Init UART2 for e-randb */ e_init_uart2(); /* Init IR */ e_init_prox(); //init motors e_init_motors(); /* Wait for a command comming from bluetooth IRCOMTEST on pc directory*/ btcomWaitForCommand('s'); /* Start agendas processing which will take care of UART interruptions */ e_start_agendas_processing(); /* Init E-RANDB board */ e_init_randb(); /* Range is tunable by software. * 0 -> Full Range (1m. approx depending on light conditions ) * 255 --> No Range (0cm. approx, depending on light conditions */ e_randb_uart_set_range(0); /* At some point we tought that the board could just take * data en leave the calculations for the robot. * At the moment, it is better to allow the board to do the calculations */ e_randb_uart_set_calculation(ON_BOARD); /* Store light conditions to use them as offset for the calculation * of the range and bearing */ e_randb_uart_store_light_conditions(); e_randb_set_uart_communication(1); finalDataRegister data; //tabla comunciacion double comunicacionAngulos[2]; int comunicacionRangos[2]; //subsuncion int CURRENT_STATE; int subsuncion[2][2]; int debug_var = 0; subsuncion[0][0]=SPACING; subsuncion[1][0]=COHESION; int i; for (i=0;i<2;i++){ subsuncion[i][1]=0; } //proximity sensors reading int prox_first_reading[8]; int prox_reading[8]; /* Angles in rad for IRs starting at 0. Left direction. */ const double prox_directions[8] = {5.9865, 5.4105, 4.7124, 3.6652, 2.6180, 1.5708, 0.8727, 0.2967}; /* Get the first reading to take ambient light */ for(i=0; i < 8; i++){ prox_first_reading[i]=e_get_prox(i); } /* Print on the bluetooth */ char tmp2[50]; sprintf(tmp2,"-- CHASER --\n"); btcomSendString(tmp2); while(1) { //comprobacion proximidad int maxProx = 0; /* Get readings and substract the first reading */ for(i=0; i < 8; i++){ prox_reading[i] = e_get_prox(i) - prox_first_reading[i]; if(prox_reading[i] < 0) {prox_reading[i] = 0; } if ( prox_reading[i]>maxProx){ maxProx = prox_reading[i]; } } if(maxProx > PROX_THRES){ subsuncion[0][1]=1; // Collission } else{ // Chasing subsuncion[0][1]=0; } CURRENT_STATE = 1; //by default. chasing for(i=0;i<2;i++){ if(subsuncion[i][1]==1){ CURRENT_STATE = i; break; } } char tmp[30]; double vector_repelent[2] = {0.0,0.0}; double ang_repelent; double ang_comunicacion = 0; if (e_randb_get_data_uart2(&data)){ //actualizar tabla comun if((data.bearing > -2*PI) && (data.bearing < 2*PI)){ switch(data.data) { case 0: comunicacionAngulos[0]=data.bearing; comunicacionRangos[0]=data.range; sprintf(tmp2,"Sigue Lider. Ang: %f, Rango: %f \n", data.bearing, data.range); btcomSendString(tmp2); break; case 1: comunicacionAngulos[1]=data.bearing; comunicacionRangos[1]=data.range; sprintf(tmp2,"Sigue Sucker. Ang: %f, Rango: %f \n", data.bearing, data.range); btcomSendString(tmp2); break; } } } switch(CURRENT_STATE){ case 0: //Collission sprintf(tmp2,"-- COLISION max= %d --\n",maxProx); btcomSendString(tmp2); /* Calc vector Sum */ vector_repelent[0] = 0.0; vector_repelent[1] = 0.0; for (i = 0 ; i < 8; i ++ ) { vector_repelent[0] += prox_reading[i] * cos ( prox_directions[i] ); vector_repelent[1] += prox_reading[i] * sin ( prox_directions[i] ); } /* Calc pointing angle */ ang_repelent = atan2(vector_repelent[1], vector_repelent[0]); /* Create repelent angle */ ang_repelent -= PI; //calculate and set velocity setAngularVelocity(ang_repelent,1); break; // Case 0 case 1: // Chasing sprintf(tmp2,"-- PERSIGUIENDO--\n"); btcomSendString(tmp2); ang_comunicacion = (comunicacionAngulos[0] + comunicacionAngulos[1])/2; if(ang_comunicacion>0.6 || ang_comunicacion<-0.6){ // Chasing sprintf(tmp2,"-- GIRANDO ang= %02f --\n",ang_comunicacion); btcomSendString(tmp2); //calculate and set velocity setAngularVelocity(ang_comunicacion,2); } else { // Walk sprintf(tmp2,"-- RECTO--\n"); btcomSendString(tmp2); e_set_speed_left(SPEED); e_set_speed_right(SPEED); } break; // Case 1 } // End switch //if (e_randb_get_data_uart2(&data)){ // sprintf(tmp,"%d %02f %d %2f %d\n",debug_var, data.bearing, data.range); // btcomSendString(tmp); /* Send the data through one sensor */ //e_randb_uart_send_all_data(data); } return 0; }
int main() { // init robot e_init_port(); e_init_ad_scan(); e_init_uart1(); e_led_clear(); e_init_motors(); e_start_agendas_processing(); // initialise buffer int k; for (k = 0; k < NB_NEIGHBOURS; k++) neighbours[k].id = -1; // wait for s to start /* btcomWaitForCommand('s'); */ btcomSendString("-OK-\n"); e_calibrate_ir(); // initialize ircom, then rng and start listening ircomStart(); //ircomEnableContinuousListening(); //ircomEnableProximity(); initRandomNumberGenerator(); // after rng init we can disable prox sensors //ircomDisableProximity(); ircomEnableContinuousListening(); ircomListen(); id = getselector(); ircomResetTime(); lastClock = ircomGetTime(); // activate movement //e_activate_agenda(move, 2500); organiseInit(); // advertise current direction e_led_clear(); e_set_led(0,1); e_set_led(4,1); while(1) { int messageReceived = 0; while(((ircomGetTime() - lastClock < COM_CYCLE_SPEED) || (ircomIsReceiving() == 1))) { IrcomMessage msg; ircomPopMessage(&msg); if (msg.error == 0) { processNewMessage(&msg); messageReceived = 1; SetRobotSeen(msg); } } e_set_body_led(messageReceived); SendData(); //sendId(); //sendAngleToNeighbours(); lastClock = ircomGetTime(); e_set_body_led(0); } ircomStop(); return 0; }
void reacttoprox() { int proxy0; int proxy1; int proxy2; int proxy3; int proxy4; int proxy5; int proxy6; int proxy7; e_init_motors(); e_init_port(); e_init_sound(); e_set_speed_left(0); e_set_speed_right(0); e_start_agendas_processing(); e_init_ad_scan(ALL_ADC); while(1) { long i; proxy0 = e_get_prox(0); proxy1 = e_get_prox(1); proxy2 = e_get_prox(2); proxy3 = e_get_prox(3); proxy4 = e_get_prox(4); proxy5 = e_get_prox(5); proxy6 = e_get_prox(6); proxy7 = e_get_prox(7); if(proxy0 > 100){ e_set_speed_left(1000); e_set_speed_right(800); LED0 = 1; LED1 = 0; LED2 = 0; LED3 = 0; LED4 = 0; LED5 = 0; LED6 = 0; LED7 = 0; } else if(proxy1 > 100){ LED0 = 1; LED1 = 1; LED2 = 1; LED3 = 1; LED4 = 1; LED5 = 1; LED6 = 1; LED7 = 1; e_set_speed_left(0); e_set_speed_right(0); long j; e_play_sound(7294, 3732); for(j=0; j<4000000; j++) {asm("nop");} } else if(proxy2 > 100){ e_set_speed_left(1000); LED0 = 0; LED1 = 0; LED2 = 1; LED3 = 0; LED4 = 0; LED5 = 0; LED6 = 0; LED7 = 0; } else if(proxy3 > 100){ e_set_speed_left(-1000); LED0 = 0; LED1 = 0; LED2 = 0; LED3 = 1; LED4 = 0; LED5 = 0; LED6 = 0; LED7 = 0; } else if(proxy4 > 100){ e_set_speed_right(-1000); LED0 = 0; LED1 = 0; LED2 = 0; LED3 = 0; LED4 = 1; LED5 = 0; LED6 = 0; LED7 = 0; } else if(proxy5 > 100){ e_set_speed_right(1000); LED0 = 0; LED1 = 0; LED2 = 0; LED3 = 0; LED4 = 0; LED5 = 1; LED6 = 0; LED7 = 0; } else if(proxy6 > 100){ e_set_speed_right(1000); LED0 = 0; LED1 = 0; LED2 = 0; LED3 = 0; LED4 = 0; LED5 = 0; LED6 = 1; LED7 = 0; } else if(proxy7 > 100){ e_set_speed_right(1000); e_set_speed_left(800); LED0 = 0; LED1 = 0; LED2 = 0; LED3 = 0; LED4 = 0; LED5 = 0; LED6 = 0; LED7 = 1; } else { e_set_speed_left(0); e_set_speed_right(0); LED0 = 0; LED1 = 0; LED2 = 0; LED3 = 0; LED4 = 0; LED5 = 0; LED6 = 0; LED7 = 0; } } }
int run_asercom(void) { static char c1,c2,wait_cam=0; static int i,j,n,speedr,speedl,positionr,positionl,LED_nbr,LED_action,accx,accy,accz,sound; static int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size,cam_x1,cam_y1; static char first=0; char *ptr; static int mod, reg, val; #ifdef IR_RECEIVER char ir_move = 0,ir_address= 0, ir_last_move = 0; #endif static TypeAccSpheric accelero; //static TypeAccRaw accelero_raw; int use_bt=0; //e_init_port(); // configure port pins //e_start_agendas_processing(); e_init_motors(); //e_init_uart1(); // initialize UART to 115200 Kbaud //e_init_ad_scan(); selector = getselector(); //SELECTOR0 + 2*SELECTOR1 + 4*SELECTOR2 + 8*SELECTOR3; if(selector==10) { use_bt=0; } else { use_bt=1; } #ifdef FLOOR_SENSORS if(use_bt) { // the I2C must remain disabled when using the gumstix extension e_i2cp_init(); } #endif #ifdef IR_RECEIVER e_init_remote_control(); #endif if(RCONbits.POR) { // reset if power on (some problem for few robots) RCONbits.POR=0; RESET(); } /*read HW version from the eeprom (last word)*/ static int HWversion=0xFFFF; ReadEE(0x7F,0xFFFE,&HWversion, 1); /*Cam default parameter*/ cam_mode=RGB_565_MODE; cam_width=40; // DEFAULT_WIDTH; cam_heigth=40; // DEFAULT_HEIGHT; cam_zoom=8; cam_size=cam_width*cam_heigth*2; if(use_bt) { e_poxxxx_init_cam(); //e_po6030k_set_sketch_mode(E_PO6030K_SKETCH_COLOR); e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode); e_poxxxx_set_mirror(1,1); e_poxxxx_write_cam_registers(); } e_acc_calibr(); if(use_bt) { uart1_send_static_text("\f\a" "WELCOME to the SerCom protocol on e-Puck\r\n" "the EPFL education robot type \"H\" for help\r\n"); } else { uart2_send_static_text("\f\a" "WELCOME to the SerCom protocol on e-Puck\r\n" "the EPFL education robot type \"H\" for help\r\n"); } while(1) { if(use_bt) { while (e_getchar_uart1(&c)==0) #ifdef IR_RECEIVER { ir_move = e_get_data(); ir_address = e_get_address(); if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){ switch(ir_move) { case 1: speedr = SPEED_IR; speedl = SPEED_IR/2; break; case 2: speedr = SPEED_IR; speedl = SPEED_IR; break; case 3: speedr = SPEED_IR/2; speedl = SPEED_IR; break; case 4: speedr = SPEED_IR; speedl = -SPEED_IR; break; case 5: speedr = 0; speedl = 0; break; case 6: speedr = -SPEED_IR; speedl = SPEED_IR; break; case 7: speedr = -SPEED_IR; speedl = -SPEED_IR/2; break; case 8: speedr = -SPEED_IR; speedl = -SPEED_IR; break; case 9: speedr = -SPEED_IR/2; speedl = -SPEED_IR; break; case 0: if(first==0){ e_init_sound(); first=1; } e_play_sound(11028,8016); break; default: speedr = speedl = 0; } ir_last_move = ir_move; e_set_speed_left(speedl); e_set_speed_right(speedr); } } #else ; #endif } else { while (e_getchar_uart2(&c)==0) #ifdef IR_RECEIVER { ir_move = e_get_data(); ir_address = e_get_address(); if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){ switch(ir_move) { case 1: speedr = SPEED_IR; speedl = SPEED_IR/2; break; case 2: speedr = SPEED_IR; speedl = SPEED_IR; break; case 3: speedr = SPEED_IR/2; speedl = SPEED_IR; break; case 4: speedr = SPEED_IR; speedl = -SPEED_IR; break; case 5: speedr = 0; speedl = 0; break; case 6: speedr = -SPEED_IR; speedl = SPEED_IR; break; case 7: speedr = -SPEED_IR; speedl = -SPEED_IR/2; break; case 8: speedr = -SPEED_IR; speedl = -SPEED_IR; break; case 9: speedr = -SPEED_IR/2; speedl = -SPEED_IR; break; case 0: if(first==0){ e_init_sound(); first=1; } e_play_sound(11028,8016); break; default: speedr = speedl = 0; } ir_last_move = ir_move; e_set_speed_left(speedl); e_set_speed_right(speedr); } } #else ; #endif } if (c<0) { // binary mode (big endian) i=0; do { switch(-c) { case 'a': // Read acceleration sensors in a non // filtered way, some as ASCII accx = e_get_acc_filtered(0, 1); accy = e_get_acc_filtered(1, 1); accz = e_get_acc_filtered(2, 1); //accx = e_get_acc(0); //too much noisy //accy = e_get_acc(1); //accz = e_get_acc(2); buffer[i++] = accx & 0xff; buffer[i++] = accx >> 8; buffer[i++] = accy & 0xff; buffer[i++] = accy >> 8; buffer[i++] = accz & 0xff; buffer[i++] = accz >> 8; /* accelero_raw=e_read_acc_xyz(); ptr=(char *)&accelero_raw.acc_x; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; ptr=(char *)&accelero_raw.acc_y; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; ptr=(char *)&accelero_raw.acc_z; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; */ break; case 'A': // read acceleration sensors accelero=e_read_acc_spheric(); ptr=(char *)&accelero.acceleration; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr=(char *)&accelero.orientation; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr=(char *)&accelero.inclination; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); ptr++; buffer[i++]=(*ptr); break; case 'b': // battery ok? buffer[i++] = BATT_LOW; break; case 'D': // set motor speed if(use_bt) { while (e_getchar_uart1(&c1)==0); while (e_getchar_uart1(&c2)==0); } else { while (e_getchar_uart2(&c1)==0); while (e_getchar_uart2(&c2)==0); } speedl=(unsigned char)c1+((unsigned int)c2<<8); if(use_bt) { while (e_getchar_uart1(&c1)==0); while (e_getchar_uart1(&c2)==0); } else { while (e_getchar_uart2(&c1)==0); while (e_getchar_uart2(&c2)==0); } speedr=(unsigned char)c1+((unsigned int)c2<<8); e_set_speed_left(speedl); e_set_speed_right(speedr); break; case 'E': // get motor speed buffer[i++] = speedl & 0xff; buffer[i++] = speedl >> 8; buffer[i++] = speedr & 0xff; buffer[i++] = speedr >> 8; break; case 'I': // get camera image if(use_bt) { e_poxxxx_launch_capture(&buffer[i+3]); wait_cam=1; buffer[i++]=(char)cam_mode&0xff;//send image parameter buffer[i++]=(char)cam_width&0xff; buffer[i++]=(char)cam_heigth&0xff; i+=cam_size; } break; case 'L': // set LED if(use_bt) { while (e_getchar_uart1(&c1)==0); while (e_getchar_uart1(&c2)==0); } else { while (e_getchar_uart2(&c1)==0); while (e_getchar_uart2(&c2)==0); } switch(c1) { case 8: if(use_bt) { e_set_body_led(c2); } break; case 9: if(use_bt) { e_set_front_led(c2); } break; default: e_set_led(c1,c2); break; } break; case 'M': // optional floor sensors #ifdef FLOOR_SENSORS if(use_bt) { e_i2cp_init(); e_i2cp_enable(); e_i2cp_read(0xC0, 0); for(j = 0; j < 6; j++) { if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j + 1); else buffer[i++] = e_i2cp_read(0xC0, j - 1); } #ifdef CLIFF_SENSORS for(j=13; j<17; j++) { if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j - 1); else buffer[i++] = e_i2cp_read(0xC0, j + 1); } #endif e_i2cp_disable(); } #else for(j=0;j<6;j++) buffer[i++]=0; #endif break; case 'N': // read proximity sensors if(use_bt) { for(j=0;j<8;j++) { n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j); buffer[i++]=n&0xff; buffer[i++]=n>>8; } } else { for(j=0;j<10;j++) { n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j); buffer[i++]=n&0xff; buffer[i++]=n>>8; } } break; case 'O': // read light sensors if(use_bt) { for(j=0;j<8;j++) { n=e_get_ambient_light(j); buffer[i++]=n&0xff; buffer[i++]=n>>8; } } else { for(j=0;j<10;j++) { n=e_get_ambient_light(j); buffer[i++]=n&0xff; buffer[i++]=n>>8; } } break; case 'Q': // read encoders n=e_get_steps_left(); buffer[i++]=n&0xff; buffer[i++]=n>>8; n=e_get_steps_right(); buffer[i++]=n&0xff; buffer[i++]=n>>8; break; case 'u': // get last micro volumes n = e_get_micro_volume(0); buffer[i++] = n & 0xff; buffer[i++] = n >> 8; n = e_get_micro_volume(1); buffer[i++] = n & 0xff; buffer[i++] = n >> 8; n = e_get_micro_volume(2); buffer[i++] = n & 0xff; buffer[i++] = n >> 8; break; case 'U': // get micro buffer ptr=(char *)e_mic_scan; if(use_bt) { e_send_uart1_char(ptr,600);//send sound buffer } else { e_send_uart2_char(ptr,600);//send sound buffer } n=e_last_mic_scan_id;//send last scan buffer[i++]=n&0xff; break; default: // silently ignored break; } if(use_bt) { while (e_getchar_uart1(&c)==0); // get next command } else { while (e_getchar_uart2(&c)==0); // get next command } } while(c);