MTI::MTI(const char * dev_,
OutputMode mode_,
OutputFormat outputDisplay_,
SyncOutMode syncOutMode_):
device(dev_), mode(MTI_OPMODE_CALIBRATED), outputDisplay(MTI_OPFORMAT_EULER), outputSkipFactor(0), mtcomm(), connected(false),
pte(10e-3, 6000, 0.0002), emptied_buffers(false)
{
baudrate_enum = PBR_115K2;
baudrate = 115200;
_set_mode(mode_);
_set_outputDisplay(outputDisplay_);
_set_syncOut(syncOutMode_);
connect();
_configure_device();
}
int app_init( void )
{
char s[ 16 ];
if ( ev3_search_tacho_plugged_in( L_MOTOR_PORT, L_MOTOR_EXT_PORT, motor + L, 0 )) {
get_tacho_max_speed( motor[ L ], &max_speed );
/* Reset the motor */
set_tacho_command_inx( motor[ L ], TACHO_RESET );
} else {
printf( "LEFT motor (%s) is NOT found.\n", ev3_port_name( L_MOTOR_PORT, L_MOTOR_EXT_PORT, 0, s ));
/* Inoperative without left motor */
return ( 0 );
}
if ( ev3_search_tacho_plugged_in( R_MOTOR_PORT, R_MOTOR_EXT_PORT, motor + R, 0 )) {
/* Reset the motor */
set_tacho_command_inx( motor[ R ], TACHO_RESET );
} else {
printf( "RIGHT motor (%s) is NOT found.\n", ev3_port_name( R_MOTOR_PORT, R_MOTOR_EXT_PORT, 0, s ));
/* Inoperative without right motor */
return ( 0 );
}
command = moving = MOVE_NONE;
if ( ev3_search_sensor( LEGO_EV3_IR, &ir, 0 )) {
_set_mode( MODE_REMOTE );
} else {
printf( "IR sensor is NOT found.\n" );
/* Inoperative without IR sensor */
return ( 0 );
}
printf( "IR remote control:\n"
"RED UP & BLUE UP - forward\n"
"RED DOWN & BLUE DOWN - backward\n"
"RED UP | BLUE DOWN - left\n"
"RED DOWN | BLUE UP - right\n"
"To switch between IR remote control and\n"
"self-driving" );
if ( ev3_search_sensor( LEGO_EV3_TOUCH, &touch, 0 )) {
printf( " use the TOUCH sensor.\n" );
} else {
touch = DESC_LIMIT;
printf( " press UP on the EV3 brick.\n" );
}
printf( "Press BACK on the EV3 brick for EXIT...\n" );
return ( 1 );
}
bool MTI::set_mode(OutputMode mode_)
{
return (_set_mode(mode_) && _configure_device());
}
