int main()
{
// Close the simpleterm half duplex connection
simpleterm_close();
// Start the sensor cog(s)
cogstart(&pollPingSensors, NULL, pstack, sizeof pstack);
// Blinken Lights!
const int pauseTime = 50;
const int startLED = 17; // 16 is used for the pollPingSensors cog to indicate activity.
const int endLED = 23;
high(startLED);
pause(pauseTime);
low(startLED);
while(1) {
pause(5);
if(isActive == 1) {
for (int led = startLED + 1; led <= endLED; led++) {
high(led);
pause(pauseTime);
low(led);
}
for (int led = endLED - 1; led >= startLED; led--) {
high(led);
pause(pauseTime);
low(led);
}
isActive = 0;
}
}
}
void MessageStart()
{
lock = locknew();
lockclr(lock);
simpleterm_close();
msg_serial = fdserial_open(31, 30, 0, 115200);
cogstart(&HandleSerial, NULL, msg_stack, sizeof(msg_stack));
}
void wifi_simpletermSuspend(void)
{
if(wifi_comSelectPin != USB_PGM_TERM)
{
if(wifi_comSelectPin >= 0)
high(wifi_comSelectPin);
// Input prevents spurious nonprinting character in Wi-Fi-only mode on close.
input(wifi_pin_di);
simpleterm_close();
}
}
void cmd_init(int wifi_rx, int wifi_tx, int debug_rx, int debug_tx)
{
// Close default same-cog terminal
simpleterm_close();
// Set to open collector instead of driven
wifi = fdserial_open(wifi_rx, wifi_tx, 0b0100, 115200);
// Generate a BREAK to enter CMD command mode
pause(10);
low(wifi_tx);
pause(1);
input(wifi_tx);
pause(1);
if (debug_tx != -1 && wifi_tx != debug_tx)
debug = fdserial_open(debug_rx, debug_tx, 0, 115200);
else
debug = wifi;
}
void main()
{
badge_setup();
simpleterm_close();
ir_start();
ee_wipe();
// Connection to host routine (FORCE CONNECTION TO HOST)
port = fdserial_open(31, 30, 0, 115200);
char_size(SMALL);
cursor(2, 4);
display("Connecting...");
while(1)
{
dprint(port, "Propeller\n");
pause(1000); // We need this pause, since the host needs time to respond. 5 x 1 second = 10 second timeout
if (fdserial_rxCount(port) == 0)
{
continue;
}
else if (fdserial_rxCount(port) < 5)
{
fdserial_rxFlush(port);
continue;
}
else dscan(port, "%s", handshake);
// Attempt handshake and listen to response
if (strcmp(handshake, "H0st") == 0)
{
break;
}
}
clear();
while(1)
{
rgb(L, OFF);
rgb(R, OFF);
char_size(BIG);
cursor(0, 0);
display("HOTSPOT!");
char_size(SMALL);
cursor(4, 5);
display("Start an");
cursor(1, 6);
display("interaction to");
cursor(0, 7);
display("upload your data");
memset(&their, 0, sizeof(info));
int t = CNT;
int dt = CLKFREQ * 2;
if (check_inbox() == 1)
{
clear();
message_get(&their);
ir_send(&my);
char_size(SMALL);
cursor(2, 2);
display("Receiving...");
while(1)
{
if (CNT - t > dt)
{
clear();
char_size(SMALL);
cursor(5, 2);
display("ERROR!");
cursor(0, 5);
display("Please try again");
dprint(port, "txBegin\n");
dprint(port, "Timeout\n");
ee_wipe();
clear_inbox();
pause(2000);
clear();
break;
}
if (check_inbox() == 1)
{
t = CNT;
message_get(&their);
if(!strcmp(their.name, "txDone"))
{
char_size(SMALL);
cursor(0, 5);
display("Upload complete");
dprint(port, "txBegin\n");
ee_uploadContacts(port);
ee_wipe();
clear_inbox();
pause(1000);
clear();
break;
}
ee_save(&their);
dprint(port, "Name: %s\n", their.name);
dprint(port, "Email: %s\n", their.email);
}
}
}
}
}
int main(void)
{
//drive_pins(12, 13);
sirc_setTimeout(60);
simpleterm_close();
pause(100);
term = fdserial_open(31, 30, 0, 115200);
pause(100);
drive_open();
while(1)
{
dprint(term, "%c", CLS);
button = sirc_button(10);
if(button == PWR)
{
set_mode();
}
switch(mode)
{
case 0:
switch(button)
{
case CH_UP:
//drive_speed(100, 100);
drive_speed(smul, smul);
break;
case CH_DN:
//drive_speed(-100, -100);
drive_speed(-smul, -smul);
break;
case VOL_DN:
//drive_speed(-100, 100);
drive_speed(-smul, smul);
break;
case VOL_UP:
//drive_speed(100, -100);
drive_speed(smul, -smul);
break;
default:
//drive_speed(0, 0);
drive_speed(0, 0);
break;
}
break;
case 1:
for(int i = 0; i < 4; i++)
{
dist[i] = ping_cm(14+i);
//dprint(term, "%d=%03d\n", i, dist[i]);
pause(10);
}
speedL = 0;
speedR = 0;
if(dist[BACK] < 30)
{
speedL += 100;
speedR += 100;
}
if(dist[FRONT] < 30)
{
speedL -= 100;
speedR -= 100;
}
if(dist[LEFT] < 30)
{
if(speedL == 0)
speedL -= 100;
else if(speedL < 0)
//speedR += 200;
speedR += 50;
else if(speedL > 0)
//speedR -= 200;
speedR -= 50;
}
if(dist[RIGHT] < 30)
{
if(speedR == 0)
speedR -= 100;
else if(speedR < 0)
//speedL += 200;
speedL += 50;
else if(speedR > 0)
//speedL -= 200;
speedL -= 50;
}
drive_speed(speedL, speedR);
pause(100);
break;
case 2:
smul = 50;
mode = 0;
break;
case 3:
smul = 100;
mode = 0;
break;
/*
case 4:
val = get_val();
dprint(term, "val = %d\n", val);
pause(3000);
break;
*/
}
}
}
int main()
{
//access the simpleIDE terminal
simpleterm_close();
//set full-duplex serialization for the terminal
term = fdserial_open(31, 30, 0, 9600);
char c;
//servo_angle(16, gripDegree); //Orient gripper to half open on start
//pause(3000);
while (1)
{
c = fdserial_rxChar(term); //Get the character entered from the terminal
if (c != -1)
{
//Use the below to see if any key input is being read by the terminal
// dprint(term, "You typed: %c\n", c);
//Link key presses to directional commands, and print the command to strings
if (c == 'f') //press "f" fof forward
{
Drive(ticks, ticks, maxSpeed);
dprint(term, "ok\n");
}
else if (c == 'b') //press "b" for backward
{
Drive(-ticks, -ticks, maxSpeed);
dprint(term, "ok\n");
}
else if (c == 'r') //press "r" for right turn
{
Drive(turnTick, -turnTick, maxTurnSpeed);
dprint(term, "ok\n");
}
else if (c == 'l') //press "l" for left turn
{
Drive(-turnTick, turnTick, maxTurnSpeed);
dprint(term, "ok\n");
}
//Increasing and Decreasing Drive Speed
else if (c == 'u')
{
ticks = ticks + 2;
if (ticks > maxSpeed) //clamp speed so it can't go over the maximum speed
{
ticks = maxSpeed;
}
dprint(term, "move_speed %d\n", ticks);
}
else if (c == 'd')
{
ticks = ticks - 2;
if (ticks < minSpeed) //clamp speed so it can't go negative or 0
{
ticks = minSpeed;
}
dprint(term, "move_speed %d\n", ticks);
}
//Increase Turn Speed;
else if (c == 't')
{
turnTick = turnTick + 1;
if (turnTick > maxTurnSpeed)
{
turnTick = maxTurnSpeed;
}
dprint(term, "turn_speed %d\n", turnTick);
}
//decrease turn speed
else if (c == 'n')
{
turnTick = turnTick - 1;
if (turnTick < minTurnSpeed)
{
turnTick = minTurnSpeed;
}
dprint(term, "turn_speed %d\n", turnTick);
}
else if (c == 'p') //ping distance
{
pingDistance = ping(8);
dprint(term, "echo %d\n", pingDistance);
dprint(term, "ok\n");
}
else if (c == 'k') // poke
{
}
else if (c == 'o') //open gripper
{
gripState = 0;
gripDegree = -1800;
}
else if (c == 'g') //close gripper
{
gripState = 1;
gripDegree = 1800;
}
} // End of Read Character Function
if (gripState != -1)
{
Grip(gripDegree, 2000);
}
} // End of While Loop
} //End of Main Loop
void main()
{
badge_setup();
simpleterm_close();
contacts_clearAll();
preserve_header();
CLKLIMIT = CLKFREQ * 2;
// Connection to host routine (FORCE CONNECTION TO HOST)
port = fdserial_open(31, 30, 0, 115200);
text_size(SMALL);
cursor(2, 4);
oledprint("Connecting...");
spkr = talk_run(9, 10); // Start talk process
while(1)
{
dprint(port, "Propeller\n");
pause(1000); // We need this pause, since the host needs time to respond. 5 x 1 second = 10 second timeout
if (fdserial_rxCount(port) == 0)
{
continue;
}
else if (fdserial_rxCount(port) < 5)
{
fdserial_rxFlush(port);
continue;
}
else dscan(port, "%s", handshake);
// Attempt handshake and listen to response
if (strcmp(handshake, "H0st") == 0)
{
break;
}
}
clear();
talk_say(spkr, "heloa");
while(1)
{
rgb(L, OFF);
rgb(R, OFF);
text_size(LARGE);
cursor(0, 0);
oledprint("HOTSPOT!");
text_size(SMALL);
cursor(4, 5);
oledprint("Start an");
cursor(1, 6);
oledprint("interaction to");
cursor(0, 7);
oledprint("upload your data");
char their_id[7];
memset(&their_id, 0, 7);
int t = CNT;
char i_type[5];
irscan("%s%s", their_id, i_type);
if (strlen(their_id) > 0)
{
clear();
eeprint("%s,%u,%s\n", their_id, 0, "INFO");
irprint("%s\n%s\n", "htspt1", "DUMP");
text_size(SMALL);
cursor(2, 2);
oledprint("Receiving...");
while(1)
{
char b[128];
memset(&b, 0, 128);
irscan("%s", b);
if (CNT - t > CLKLIMIT)
{
clear();
text_size(LARGE);
cursor(0, 0);
oledprint(" ERROR");
text_size(SMALL);
cursor(0, 6);
oledprint("Please try again");
dprint(port, "txBegin\n");
dprint(port, "Timeout\n");
contacts_clearAll();
preserve_header();
talk_say(spkr, "oops;/trae,-ugen");
pause(2000);
clear();
break;
}
if (strlen(b) > 0)
{
t = CNT;
if(!strcmp(b, "irDone"))
{
clear();
text_size(LARGE);
cursor(0, 0);
oledprint("SUCCESS");
text_size(SMALL);
cursor(0, 6);
oledprint("Upload complete");
talk_say(spkr, "oakay;</aem,dun");
dprint(port, "txBegin\n");
upload_contacts(port);
contacts_clearAll();
preserve_header();
pause(1000);
clear();
break;
}
save_contact(b);
}
}
}
}
}
terminal *simpleterm_reopen(int rxpin, int txpin, int mode, int baud)
{
simpleterm_close();
dport_ptr = serial_open(rxpin, txpin, mode, baud);
return dport_ptr;
}
