int main( void )
{
uint32_t chargeopportunity = 0;
init();
random_walk_disable();
time_wait(TICKS_PER_SEC * 1);
/* start charging if touching charger within 1 second */
chargeopportunity = the_time + 20;
leds_set(ORANGE);
while (the_time < chargeopportunity)
{
if ( battery_power_good() )
now_parking = !charge_complete;
}
leds_set(NONE);
while(1)
{
leds_update_mood();
if (battery_critical())
low_power();
/* We may have finished charging */
if( charge_complete )
{
food_level = 0;
charge_complete = FALSE;
now_parking = 0;
/* reverse out of the charger */
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_BK;
time_wait(5);
continue;
}
/* Go to the charger if... */
if( battery_low()
/* Or we've reached a defficiency of food */
|| ( food_level > FOOD_THRESHOLD )
|| ( now_parking ) )
{
if (battery_low() )
mood = MOOD_DRIVING_TO_CHARGER_FLATBATT;
else if ( food_level > FOOD_THRESHOLD )
mood = MOOD_DRIVING_TO_CHARGER_NOFOOD;
now_parking = !charge_complete;
parking_update();
continue;
}
/* Parking involves a static situation, which is incompatible
with the watchdog - hence leave it here. */
watchdog_update();
if( hasfood() )
{
mood = MOOD_GOT_FOOD;
/* Are we at the light source? */
if(light_intensity == 0)
{
/* Deposit food here */
mood = MOOD_AT_LAMP;
leds_update_mood();
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_BK;
time_wait(10);
}
/* Do we have a reasonable bearing? */
else if(bearing_strength > 10)
{
random_walk_disable();
braitenberg_update();
}
else
/* Random Walk */
random_walk_enable();
}
else
{
/* Not got food, just do random walk */
mood = MOOD_NONE;
random_walk_enable();
}
}
}
int main( void )
{
uint32_t chargeopportunity = 0;
init();
random_walk_disable();
time_wait(TICKS_PER_SEC * 1);
/* start charging if touching charger within 1 second */
chargeopportunity = the_time + 20;
leds_set(RED); // red LED on for 2 seconds
P4DIR |= (0x09); //P40 and P43 are output IR
P4OUT |= (0x09); //all IR leds on (3 top, one bottom)
time_wait(TICKS_PER_SEC * 2);
leds_set(GREEN); //green LED on for 1 second
time_wait(TICKS_PER_SEC * 1);
leds_set(ORANGE); //green LED on for 1 second
time_wait(TICKS_PER_SEC * 1);
leds_set(RED); //green LED on for 1 second
time_wait(TICKS_PER_SEC * 1);
leds_set(NONE);
P4OUT &= ~(0x01);
motor_l=1; //left motor running at low speed for 1 second
time_wait(TICKS_PER_SEC *1);
motor_l=0;
motor_r=1; //right motor running at low speed for 1 second
time_wait(TICKS_PER_SEC *1);
motor_r=0;
motor_mode= MOTOR_BK;
time_wait(TICKS_PER_SEC *2);
motor_l=2;
motor_r=2;
time_wait(TICKS_PER_SEC *1);
motor_l=0;
motor_r=0;
motor_mode= MOTOR_FWD;
/*
while (the_time < chargeopportunity)
{
if ( battery_power_good() )
{
now_parking = !charge_complete;
}
}
*/
leds_set(NONE);
while(1)
{
leds_update_mood();
if (battery_critical())
{
low_power();
}
/*
// We may have finished charging
if( charge_complete )
{
food_level = 0;
charge_complete = FALSE;
now_parking = 0;
// reverse out of the charger
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_BK;
time_wait(5);
continue;
}
*/
/*
// Go to the charger if...
if( battery_low()
// Or we've reached a defficiency of food
|| ( food_level > FOOD_THRESHOLD )
|| ( now_parking ) )
{
if (battery_low() )
{
mood = MOOD_DRIVING_TO_CHARGER_FLATBATT;
}
else if ( food_level > FOOD_THRESHOLD )
{
mood = MOOD_DRIVING_TO_CHARGER_NOFOOD;
}
now_parking = !charge_complete;
parking_update();
continue;
}
*/
/* Parking involves a static situation, which is incompatible
with the watchdog - hence leave it here. */
watchdog_update();
/*
if( hasfood() )
{
mood = MOOD_GOT_FOOD;
*/
/* Are we at the light source? */
if(light_intensity == 0)
{
/* Deposit food here */
mood = MOOD_AT_LAMP;
leds_update_mood();
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_FWD;
time_wait(10);
}
/* Do we have a reasonable bearing? */
else if(bearing_strength > 10)
{
random_walk_disable();
braitenberg_update();
}
else
{
/* Random Walk */
random_walk_enable();
}
/*
}
else
{
// Not got food, just do random walk
mood = MOOD_NONE;
random_walk_enable();
}
*/
}
}
