/// Play a chromatic scale.
void playScale(MorseToken) {
analogWrite(piezoTxN, 0);
for (size_t i(24); i < sizeof(noteHz)/sizeof(noteHz[0]); i += 1) {
pwmFrequency(noteHz[i]+0.5);
pwmWrite(getDuty());
delayMicroseconds(getDitMicros());
pwmWrite(0);
}
}
void Heater::update(long int time)
{
if(!active)
return;
float tPoint = (time % 1000 % cycle);
// INSIDE HEAT CYCLE
if(tPoint < duty)
elementPower(HEATERON);
else
elementPower(HEATEROFF);
fprintf(stderr,"TIME %li TP %f stat %d ON %d\n",time,tPoint,getDuty(),(_gpio_status==HEATERON));
}
/// Play one of 10 sound effects based on the digit on the stack.
void playSoundEffect(MorseToken code) {
pwmFrequency(noteHz[48]+0.5);
pwmWrite(getDuty());
delayMicroseconds(getDitMicros());
pwmWrite(0);
if (symbolStackSize()) {
uint8_t n(s(0).m2i());
elapsedMicros t;
size_t steps[] = { 0, 2, 3, 5, 7, 8, 10 };
switch (n) {
case 0:
t = 0;
// Low pulsing static rumble
while (t < 60 * getDitMicrosDefault()) {
for (int i(1); i < 25; ++i) {
dWrite(HIGH);
delayMicroseconds((1 + random(i)) * 1136);
dWrite(LOW);
delayMicroseconds((1 + random(i)) * 1136);
}
}
break;
case 1:
shufflingCash(120 * getDitMicrosDefault());
break;
case 2:
t = 0;
// Descending beats
while (t < 120 * getDitMicrosDefault()) {
for (int i(1); i < 75; ++i) {
dWrite(HIGH);
delayMicroseconds(i * 1136/12);
dWrite(LOW);
delayMicroseconds(i * 1136/12);
}
}
break;
case 3:
t = 0;
// Buzzer
while (t < 60 * getDitMicrosDefault()) {
playTone(noteHz[36], getDitMicrosDefault()/30);
playTone(noteHz[48], getDitMicrosDefault()/30);
playTone(noteHz[52], getDitMicrosDefault()/60);
playTone(noteHz[57], getDitMicrosDefault()/60);
}
break;
case 4:
t = 0;
// Humm, kinda like a machine hum.
while (t < 60 * getDitMicrosDefault()) {
for (int i(0); i < 49; ++i) {
playTone(noteHz[i], getDitMicrosDefault()/10);
}
}
break;
case 5:
t = 0;
// ascending and repeating
while (t < 60 * getDitMicrosDefault()) {
for (int i(0); i < 49; ++i) {
playTone(noteHz[i], getDitMicrosDefault()/2);
}
}
break;
case 6:
t = 0;
// ascending more quickly
while (t < 60 * getDitMicrosDefault()) {
for (int i(0); i < 49; ++i) {
playTone(noteHz[random(1,96)], getDitMicrosDefault()/10);
}
}
break;
case 7:
t = 0;
// ?
while (t < 60 * getDitMicrosDefault()) {
for (int i(0); i < 7; ++i) {
playTone(noteHz[(24 + steps[i % 7]) % 97], getDitMicrosDefault());
}
}
break;
case 8:
t = 0;
// Almost white noise, like water from a tap
while (t < 60 * getDitMicrosDefault()) {
dWrite(HIGH);
delayMicroseconds(random(100,1000));
dWrite(LOW);
delayMicroseconds(random(100,1000));
}
break;
case 9:
t = 0;
// Almost white noise, like water from a tap
while (t < 60 * getDitMicrosDefault()) {
dWrite(HIGH);
delayMicroseconds(random(10,8000));
dWrite(LOW);
delayMicroseconds(random(10,8000));
}
t = 0;
// Sort of like a pinball machine
{ int i(2);
while (t < 60 * getDitMicrosDefault()) {
for (int k(0); k < 10; ++k) {
dWrite(HIGH);
delayMicroseconds(i);
dWrite(LOW);
delayMicroseconds(i);
}
i <<= 2;
if (4000 < i) { i = 2; }
}
}
}
txString("K");
} else {
txError();
}
}
int main()
{
int cTotal = 0;
int cState = STATE_READ;
char toggleOut = FALSE;
Signal motor1;
Signal motor2;
Signal estop;
Signal rcMode;
init_coridium();
setbaud(0, 17);
statusMessage[0] = '#';
statusMessage[1] = '%';
statusMessage[2] = 0x82;
INPUT(RC1); motor1.pin = RC1;
INPUT(RC2); motor2.pin = RC2;
INPUT(RC3); estop.pin = RC3;
INPUT(RC4); rcMode.pin = RC4;
OUTPUT(TX);
OUTPUT(ESTOP); LOW(ESTOP);
OUTPUT(RCMode);
OUTPUT(FreqPin);
OUTPUT(LIGHT);
motor1.state = STATE_WAIT;
motor1.duty = 0;
motor1.valid = 0;
motor2.state = STATE_WAIT;
motor2.duty = 0;
motor2.valid = 0;
estop.state = STATE_WAIT;
estop.duty = 0;
estop.valid = 0;
rcMode.state = STATE_WAIT;
rcMode.duty = 0;
rcMode.valid = 0;
SLEEP(2);
while (TRUE)
{
switch (cState)
{
case STATE_READ:
if (toggleOut)
{
toggleOut = FALSE;
HIGH(FreqPin);
}
else
{
toggleOut = TRUE;
LOW(FreqPin);
}
cTotal += getDuty(&motor1);
cTotal += getDuty(&motor2);
cTotal += getDuty(&estop);
cTotal += getDuty(&rcMode);
if (cTotal > 8)
{
cState = STATE_SERIAL;
cTotal = 0;
}
break;
case STATE_SERIAL:
if (estop.lastVal > 0)
{
sendESTOP(0);
gESTOP = FALSE;
if (rcMode.lastVal > 0)
{
HIGH(LIGHT);
HIGH(RCMode);
// 11 == Manual (teleop) Mode
statusMessage[3] = 0x00;
statusMessage[4] = 0xFF;
statusMessage[5] = 0xFF;
statusMessage[6] = 0xFF;
calcSum();
//statusMessage[7] = 0x84;
//SEROUT(TXD0,9600, 1, 3, statusMessage);
TXD0(statusMessage[0]);
TXD0(statusMessage[1]);
TXD0(statusMessage[2]);
TXD0(statusMessage[3]);
TXD0(statusMessage[4]);
TXD0(statusMessage[5]);
TXD0(statusMessage[6]);
TXD0(statusMessage[7]);
}
else
{
if (flashcount > 0)
{
HIGH(LIGHT);
}
else
{
LOW(LIGHT);
}
if (flashcount > LIGHTDUTY)
{
flashcount = -LIGHTDUTY;
}
LOW(RCMode);
// 00 == Autonomous Mode
statusMessage[3] = 0x00;
statusMessage[4] = 0x00;
statusMessage[5] = 0x00;
statusMessage[6] = 0x00;
calcSum();
//statusMessage[7] = 0x84;
//SEROUT(TXD0,9600, 1, 3, statusMessage);
TXD0(statusMessage[0]);
TXD0(statusMessage[1]);
TXD0(statusMessage[2]);
TXD0(statusMessage[3]);
TXD0(statusMessage[4]);
TXD0(statusMessage[5]);
TXD0(statusMessage[6]);
TXD0(statusMessage[7]);
}
}
else
{
HIGH(LIGHT);
HIGH(RCMode);
sendESTOP(1);
gESTOP = TRUE;
// 11 == Manual (teleop) Mode
statusMessage[3] = 0x00;
statusMessage[4] = 0xFF;
statusMessage[5] = 0xFF;
statusMessage[6] = 0xFF;
calcSum();
//statusMessage[7] = 0x84;
//SEROUT(TXD0,9600, 1, 3, statusMessage);
TXD0(statusMessage[0]);
TXD0(statusMessage[1]);
TXD0(statusMessage[2]);
TXD0(statusMessage[3]);
TXD0(statusMessage[4]);
TXD0(statusMessage[5]);
TXD0(statusMessage[6]);
TXD0(statusMessage[7]);
}
#ifdef DEBUG
putchar( binToHexstr((char)((motor1.lastVal >> 4) & 0x0F)) );
putchar( binToHexstr((char)(motor1.lastVal & 0x0F)) );
putchar(' ');
putchar( binToHexstr((char)((motor2.lastVal >> 4) & 0x0F)) );
putchar( binToHexstr((char)(motor2.lastVal & 0x0F)) );
putchar('\n');
//printf("%d\n", estop.lastVal);
#endif
// motor1 == forward value
// motor2 == left/right value
int left_motor = motor1.lastVal/2 - motor2.lastVal/2;
int right_motor = motor1.lastVal/2 + motor2.lastVal/2;
sendSerial(right_motor, 1);
sendSerial(left_motor, 0);
cState = STATE_READ;
break;
}
flashcount++;
}
return 0;
}
