void pot_test()
{
long start = get_ms();
char elapsed_ms;
int value;
set_analog_mode(MODE_10_BIT);
print_long(read_trimpot());
print(" "); // to clear the display
while((elapsed_ms = get_ms() - start) < 100)
{
value = read_trimpot();
play_frequency(value, 200, 15);
if(value < elapsed_ms*10)
{
red_led(0);
green_led(1);
}
else
{
red_led(1);
green_led(0);
}
}
}
void wait_with_message(char *str)
{
play_frequency(200, 50, 14);
delay_ms(75);
play_frequency(300, 50, 14);
play_frequency(200, 50, 14);
delay_ms(75);
play_frequency(300, 50, 14);
lcd_goto_xy(0,0);
print(str);
while(!button_is_pressed(BUTTON_B));
delay_ms(500);
}
void test_leds()
{
while(!button_is_pressed(ALL_BUTTONS))
{
clear();
printf("Check\n");
printf("Red");
red_led(1);
play_frequency(440,50,15);
delay_ms(250);
if(button_is_pressed(ALL_BUTTONS))
break;
red_led(0);
delay_ms(250);
if(button_is_pressed(ALL_BUTTONS))
break;
clear();
printf("Check\n");
printf("Green");
green_led(1);
play_frequency(880,50,15);
delay_ms(250);
if(button_is_pressed(ALL_BUTTONS))
break;
green_led(0);
delay_ms(250);
}
while(button_is_pressed(ALL_BUTTONS));
delay_ms(100);
}
void test_delay()
{
play_frequency(440,250,8); // should take exactly 250 ms
delay_ms(200);
printf("\ndelay1");
assert(is_playing());
delay_ms(100);
printf("\ndelay2");
assert(!is_playing());
}
int main()
{
init_sensors();
int SET_POINT_VALUE = get_int_from_user("SetPnt=?", 20, 5);
int END_POINT_VALUE = get_int_from_user("EndPnt=?", 145, 1);
wait_with_message("Press B");
count_down(2);
int front = 0;
int left = 0;
int right = 0;
int balance = 0;
int left_speed = 0;
int right_speed = 0;
int set_point = 0;
while(1)
{
left = analog_read(6);
right = analog_read(5);
front = analog_read(7);
balance = 0;
if (left > 20 || right > 20)
{
balance = right - left - 20;
}
if(front < SET_POINT_VALUE)
{
left_speed = 110 - (1.0 * 0.54838709677419354838709677419355 * front);
right_speed = 110 - (1.0 * 0.54838709677419354838709677419355 * front);
}
else
{
while(left_speed > 25 || right_speed > 25)
{
left_speed--;
right_speed--;
set_motors(left_speed + balance,right_speed - balance);
play_frequency(200, 50, 14);
}
}
if (set_point == 0 && front > END_POINT_VALUE)
{
set_point = 1;
set_motors(25,25);
}
else
{
set_motors(left_speed + balance,right_speed - balance);
}
if (set_point == 1 && front < END_POINT_VALUE)
{
break;
}
}
halt();
clear();
print("f=");
print_long(front);
// end
while(1);
}
void deuxiemePassage()
{
int m=0; //pour parcourir le tableau
position = read_line(sensors, IR_EMITTERS_ON); //mesure la position
while (!(sensors[0] >=1000 && sensors[1] >=1000 && sensors[2] >=1000 && sensors[3] >=1000 && sensors[4] >=1000)) //tant que pas fin
{
position = read_line(sensors, IR_EMITTERS_ON); //mesure la position
clear();
print_hex(parcours[m]);
//suivi chemin
if (ligne())
{
suivreChemin();
}
//angle
else if(angleGauche()) // seul chemin possible à gauche
{
tourneGauche();
delay_ms(500);
}
else if(angleDroit()) //seul chemin possible à droite
{
tourneDroit();
delay_ms(500);
}
else if (divGaucheDroite() || divGaucheToutDroit || divDroiteToutDroit() )
{
play_frequency(5000, 250, 15);
if (parcours[m]==1)
{
tourneGauche();
delay_ms(120);
set_motors(50,50);
delay_ms(100);
play_frequency(5000, 250, 15);
position = read_line(sensors, IR_EMITTERS_ON); //mesure la position
suivreChemin();
delay_ms(50);
}
else if (parcours[m]==2)
{
toutDroit();
}
else if (parcours[m]==3)
{
tourneDroit();
delay_ms(120);
set_motors(50,50);
delay_ms(100);
play_frequency(5000, 250, 15);
position = read_line(sensors, IR_EMITTERS_ON); //mesure la position
suivreChemin();
delay_ms(50);
}
m++;
}
}
}
