/*
=============================================================================
main task with some testing code
*/
task main() {
// Standard range is set to short range
bool shortrange = true;
tObstacleZone zone = MSSUMO_NONE;
nNxtButtonTask = -2;
eraseDisplay();
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "SUMO Eyes");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "ranges");
sleep(2000);
eraseDisplay();
// Set the sensor to short range
MSSUMOsetShortRange(HTMSSUMO);
while(true) {
if (time1[T1] > 1000) {
if (shortrange == false) {
// set the sensor to short range and display this
MSSUMOsetShortRange(HTMSSUMO);
displayClearTextLine(1);
displayTextLine(1, "Short range");
shortrange = true;
} else {
// set the sensor to long range and display this
MSSUMOsetLongRange(HTMSSUMO);
displayClearTextLine(1);
displayTextLine(1, "Long range");
shortrange = false;
}
playSound(soundBeepBeep);
while(bSoundActive)
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
// Read the zone data
zone = MSSUMOreadZone(HTMSSUMO);
switch (zone) {
case MSSUMO_FRONT: displayCenteredBigTextLine(4, "FRONT"); break;
case MSSUMO_LEFT: displayCenteredBigTextLine(4, "LEFT"); break;
case MSSUMO_RIGHT: displayCenteredBigTextLine(4, "RIGHT"); break;
case MSSUMO_NONE: displayCenteredBigTextLine(4, "NONE"); break;
}
sleep(50);
}
}
}
/*
=============================================================================
main task with some testing code
*/
task main() {
// Standard range is set to short range
bool shortrange = true;
tObstacleZone zone = 0;
nNxtButtonTask = -2;
eraseDisplay();
nxtDisplayCenteredTextLine(0, "Mindsensors");
nxtDisplayCenteredBigTextLine(1, "SumoEyes");
nxtDisplayCenteredTextLine(3, "Test 2");
nxtDisplayCenteredTextLine(5, "Press enter to");
nxtDisplayCenteredTextLine(6, "switch between");
nxtDisplayCenteredTextLine(7, "ranges");
wait1Msec(2000);
eraseDisplay();
// Set the sensor to short range
MSSUMOsetShortRange(HTMSSUMO);
nxtDisplayRICFile(0, 0, "sumonone.ric");
while(true) {
if (time1[T1] > 1000) {
if (shortrange == false) {
// set the sensor to short range and display this
MSSUMOsetShortRange(HTMSSUMO);
nxtDisplayCenteredTextLine(7, "Short range");
shortrange = true;
} else {
// set the sensor to long range and display this
MSSUMOsetLongRange(HTMSSUMO);
nxtDisplayCenteredTextLine(7, "Long range");
shortrange = false;
}
PlaySound(soundBeepBeep);
while(bSoundActive)
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
zone = MSSUMOreadZone(HTMSSUMO);
if (shortrange) {
switch (zone) {
case MSSUMO_NONE: nxtDisplayRICFile(0, 0, "sumonone.ric"); break;
case MSSUMO_FRONT: nxtDisplayRICFile(0, 0, "sumoSF.ric"); break;
case MSSUMO_RIGHT: nxtDisplayRICFile(0, 0, "sumoSL.ric"); break;
case MSSUMO_LEFT: nxtDisplayRICFile(0, 0, "sumoSR.ric"); break;
}
nxtDisplayCenteredTextLine(7, "Short range");
} else {
switch (zone) {
case MSSUMO_NONE: nxtDisplayRICFile(0, 0, "sumonone.ric"); break;
case MSSUMO_FRONT: nxtDisplayRICFile(0, 0, "sumoLF.ric"); break;
case MSSUMO_RIGHT: nxtDisplayRICFile(0, 0, "sumoLL.ric"); break;
case MSSUMO_LEFT: nxtDisplayRICFile(0, 0, "sumoLR.ric"); break;
}
nxtDisplayCenteredTextLine(7, "Long range");
}
wait1Msec(10);
}
}
}
