//routine to use the camera and see blob position based on standard create start routine
void calibrateCamera() {
int channel = 0;
while (a_button_clicked() == 0) {
msleep(2000);
camera_update();
printf ("=> object count %d \n", get_object_count(channel));
int i = 0;
int shelfPlaces[8] = {0,0,0,0,0,0,0,0};
while (i < get_object_count(channel)) {
printf("obj %d, ctr loc, area, shelf plcmt: %d, %d, %d\n", i, get_object_center(channel, i).x, get_object_area(channel, i),
getShelfPlacement(get_object_center(channel, i).x));
shelfPlaces[getShelfPlacement(get_object_center(channel, i).x)] += get_object_area(channel, i);
i++;
}
printf("==========================\n");
printf("=RESULTS =\n");
printf("==========================\n");
i = 1;
while (i < 8) {
printf ("shelfPlace : %d, total cube area : %d\n", i, shelfPlaces[i]);
i++;
}
printf("==========================\n");
printf("click b button for new camera capture, a to exit.\n");
while (b_button_clicked() == 0 && a_button_clicked() == 0 ) {
msleep(25);
}
}
printf("done with calibration function.\n");
}
int main()
{
printf("Hello, World!\n");
set_a_button_text("Some button a");
set_b_button_text("That other button");
set_c_button_text("Useless button");
create_connect();
printf("The buttons have been renamed.\n Deal with it.\n Press button 'some button' &\n 'That other button' for beeps.\n 'Useless button' stops the beeps.\n");
while (side_button() ==0){
if (a_button() == 1){// can hold for continuous beeps
printf("beep\n");
beep();
msleep(500);
}
else if (b_button_clicked() == 1){// must release button
printf("beep-beep\n");
beep();
msleep(300);
beep();
}
else {
printf("No button pressed.\n");
}
}
printf("I quit");
create_disconnect();
return 0;
}
int main()
{
while (b_button_clicked() == 0);
while (a_button() == 0)
{
t_line_follow();
printf("%d , %d , %d\n" , get_left() , get_middle() , get_right());
}
return 0;
}
int getFirstButtonPressed(){ //returns 0 for A, 1 for B, 2 for C.
while(1==1){
if(a_button_clicked()==1){
return 0;
}
if(b_button_clicked()==1){
return 1;
}
if(c_button_clicked()==1){
return 2;
}
msleep(40);
}
}
int main()
{
int m1=0,m2=3,pageno=0;
double createDriveTime;
printf("Start!\n");
extra_buttons_show();
while (1)
{
while (pageno == 0)
{
set_a_button_text("Forward");
set_b_button_text("Backward");
set_c_button_text("All Off");
set_x_button_text("OpenHand");
set_y_button_text("CloseHand");
set_z_button_text("Create Page");
if (a_button_clicked())
{
printf("Moving forward...\n");
motor(m1,100);
motor(m2,100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (b_button_clicked())
{
printf("Moving backward...\n");
motor(m1,-100);
motor(m2,-100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (x_button_clicked())
{
enable_servo(3);
set_servo_position(3,0);
msleep(300);
disable_servo(3);
}
if (y_button_clicked())
{
enable_servo(3);
set_servo_position(3,1300);
msleep(300);
disable_servo(3);
}
if (z_button_clicked())
{
pageno=1;
create_connect();
}
}
while (pageno == 1)
{
set_a_button_text("Create Fwd");
set_b_button_text("Create Bwd");
set_c_button_text("Stop");
set_x_button_text("Turn R");
set_y_button_text("Turn L");
set_z_button_text("M S Page");
if (a_button_clicked())
{
createDriveTime = 0;
printf("Create Moving forward w/ spd 100...\n");
create_drive_straight(100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (b_button_clicked())
{
createDriveTime = 0;
printf("Create Moving backward w/ spd 100...\n");
create_drive_straight(-100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (x_button_clicked())
{
create_drive(-50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (y_button_clicked())
{
create_drive(50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (z_button_clicked())
{
pageno=0;
create_disconnect();
}
}
}
return 0;
}
void wait_for_light(int light_port_)
{
int xBut, l_on_, l_off_, l_mid_, t, OK = 0;
float s;
xBut = get_extra_buttons_visible();
set_extra_buttons_visible(0);
set_a_button_text("-");
set_c_button_text("-");
set_analog_pullup(light_port_, 1);
while (!OK) {
set_b_button_text("Light is On");
display_clear();
display_printf (0, 0, "CALIBRATE: sensor port #%d", light_port_);
display_printf(0, 1, " press button when light is on");
while(b_button_clicked() == 0) {
l_on_ = analog10 (light_port_);
display_printf(0,1," light on value is = %d ", l_on_);
msleep(50);
}
l_on_ = analog10(light_port_); /* sensor value when light is on */
set_b_button_text("Light is Off");
display_printf(0,1," light on value is = %d ", l_on_);
msleep(200);
beep();
display_printf(0,2," press button when light off");
while(b_button_clicked() == 0) {
l_off_ = analog10(light_port_);
display_printf(0,3," light off value is = %d ", l_off_);
msleep(50);
}
l_off_ = analog10(light_port_); /* sensor value when light is off */
display_printf(0,3," light off value is = %d ", l_off_);
msleep(200);
if((l_off_ - l_on_) >= 60) { /* bright = small values */
OK = 1;
l_mid_ = (l_on_ + l_off_) / 2;
display_printf(0, 5, "Good Calibration!");
display_printf(0, 7, "Diff = %d: WAITING", l_off_ - l_on_);
while(analog10(light_port_) > l_mid_);
} else {
s = seconds();
display_printf(0,7,"BAD CALIBRATION");
if(l_off_ < 512){
display_printf(0,8," Add Shielding!!");
msleep(5000);
} else {
display_printf(0,8," Aim sensor!!");
msleep(5000);
}
}
}
set_extra_buttons_visible(xBut);
set_a_button_text("A");
set_b_button_text("B");
set_c_button_text("C");
}
