void OmniRobot::gamepadButton(int button, int pressed)
{
if (pressed == 0) return;
switch (omniState)
{
case INIT_MODE:
switch (button)
{
case 1: movementMode = ROTATE_MAX_MODE; break;
case 2: movementMode = ROTATE_POINT_MODE; break;
case 3: movementMode = ROTATE_MODE; break;
case 5: movementMode = ANDROID_MODE; period = 10; break;
}
omniState = CONTROL_MODE;
startControl();
break;
case CONTROL_MODE:
qDebug() << "INIT_MODE";
init();
omniState = INIT_MODE;
brick.stop();
timer.stop();
disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl()));
break;
default:
brick.stop();
timer.stop();
disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl()));
}
}
void startMozzi(int control_rate_hz)
{
setupMozziADC(); // you can use setupFastAnalogRead() with FASTER or FASTEST in setup() if desired (not for Teensy 3.1)
// delay(200); // so AutoRange doesn't read 0 to start with
startControl(control_rate_hz);
#if (AUDIO_MODE == STANDARD) || (AUDIO_MODE == STANDARD_PLUS)
startAudioStandard();
#elif (AUDIO_MODE == HIFI)
startAudioHiFi();
#endif
}
void startMozzi(int control_rate_hz)
{
setupMozziADC(); // you can use setupFastAnalogRead() with FASTER or FASTEST in setup() if desired (not for Teensy 3.1)
// delay(200); // so AutoRange doesn't read 0 to start with
startControl(control_rate_hz);
#if (AUDIO_MODE == STANDARD) || (AUDIO_MODE == STANDARD_PLUS) || IS_STM32() // Sorry, this is really hacky. But on STM32 regular and HIFI audio modes are so similar to set up, that we do it all in one function.
startAudioStandard();
#elif (AUDIO_MODE == HIFI)
startAudioHiFi();
#endif
}