void ServosWidget::disable()
{
// Disable current servo
const int port = ui->dial->label();
disable_servo(port);
publish();
// Update enable/disable button visibility
ui->enable->show();
ui->disable->hide();
}
// Created on Sat April 13 2013
// This is a transport move test.
int main()
{
wait_for_light(3); // start the robot after the light is turned on
shut_down_in(120); // shutdown the robot in 2 Minutes
enable_servo();
printf("Hello, World!\n");
set_servo_position(1, 0);
motor(1,100); // move the right wheel
motor(3,100); // move the left wheel
msleep(3500); // move for 3.5 seconds
ao();
set_servo_position(1, 2048); // kick bot guy out
motor(1,-100);
motor(3,-100);
disable_servo();
return 0;
}
VI void disable_servos()
{
for(int i = 0; i < 4; ++i) disable_servo(i);
}
void ServoTestWizardPage::servoOff(const quint16 &port)
{
disable_servo(port);
}
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;
}
// ============================================================================================
// receive packet
// ============================================================================================
// this repeats code in key_press
void rx_pkt(Xgrid::Packet *pkt)
{
uint8_t port = pkt->rx_node; //pkt->rx_node
char command;
if(port >= 0 && port < NUM_NEIGHBORS) {
if(pkt->type == MESSAGE_COMMAND)
{
char* char_ptr = (char*) pkt->data;
command = *char_ptr;
connected[port] = true;
switch(command)
{
case 'Z':
reboot_on = true;
case 'D':
speedup_on = false;
communication_on = false;
disable_servo();
break;
case 'R':
speedup_on = true;
communication_on = true;
enable_servo();
break;
case 'i':
init_variables();
break;
case 'r':
sec_counter = 0;
break;
case 'I':
init_variables();
sec_counter = 0;
break;
case 'a':
wave_flg = true;
wave_port = port;
break;
case 'b':
column_flg = true;
break;
case 'c':
sync = false;
break;
case '1':
sec_counter = STGtime1;
init_variables();
break;
case '2':
sec_counter = STGtime2;
init_variables();
break;
case '3':
sec_counter = STGtime3;
init_variables();
break;
case '4':
sec_counter = STGtime4;
init_variables();
break;
case '5':
sec_counter = STGtime5;
init_variables();
break;
case '6':
sec_counter = STGtime6;
init_variables();
break;
case '7':
sec_counter = STGtime7;
init_variables();
break;
case '8':
sec_counter = STGtime8;
init_variables();
break;
case '9':
sec_counter = STGtime9;
init_variables();
break;
case '0':
sec_counter = LASTtime;
init_variables();
break;
}
}
if(pkt->type == MESSAGE_NUMDATA)
{
connected[port] = true;
point* pt_ptr = (point*) pkt->data;
agent0.neix[port] = pt_ptr->x0;
agent0.neiy[port] = pt_ptr->y0;
agent1.neix[port] = pt_ptr->x1;
agent1.neiy[port] = pt_ptr->y1;
}
//LED_PORT.OUTTGL = LED_USR_2_PIN_bm; //green LED
}
}
