/* ============================================================================= main task with some testing code */ task main() { // Standard range is set to short range bool shortrange = true; tObstacleZone zone = MSSUMO_NONE; nNxtButtonTask = -2; eraseDisplay(); displayCenteredTextLine(0, "Mindsensors"); displayCenteredBigTextLine(1, "SUMO Eyes"); displayCenteredTextLine(3, "Test 1"); displayCenteredTextLine(5, "Press enter to"); displayCenteredTextLine(6, "switch between"); displayCenteredTextLine(7, "ranges"); sleep(2000); eraseDisplay(); // Set the sensor to short range MSSUMOsetShortRange(HTMSSUMO); while(true) { if (time1[T1] > 1000) { if (shortrange == false) { // set the sensor to short range and display this MSSUMOsetShortRange(HTMSSUMO); displayClearTextLine(1); displayTextLine(1, "Short range"); shortrange = true; } else { // set the sensor to long range and display this MSSUMOsetLongRange(HTMSSUMO); displayClearTextLine(1); displayTextLine(1, "Long range"); shortrange = false; } playSound(soundBeepBeep); while(bSoundActive) time1[T1] = 0; } while(nNxtButtonPressed != kEnterButton) { // Read the zone data zone = MSSUMOreadZone(HTMSSUMO); switch (zone) { case MSSUMO_FRONT: displayCenteredBigTextLine(4, "FRONT"); break; case MSSUMO_LEFT: displayCenteredBigTextLine(4, "LEFT"); break; case MSSUMO_RIGHT: displayCenteredBigTextLine(4, "RIGHT"); break; case MSSUMO_NONE: displayCenteredBigTextLine(4, "NONE"); break; } sleep(50); } } }
/* ============================================================================= main task with some testing code */ task main() { // Standard range is set to short range bool shortrange = true; tObstacleZone zone = 0; nNxtButtonTask = -2; eraseDisplay(); nxtDisplayCenteredTextLine(0, "Mindsensors"); nxtDisplayCenteredBigTextLine(1, "SumoEyes"); nxtDisplayCenteredTextLine(3, "Test 2"); nxtDisplayCenteredTextLine(5, "Press enter to"); nxtDisplayCenteredTextLine(6, "switch between"); nxtDisplayCenteredTextLine(7, "ranges"); wait1Msec(2000); eraseDisplay(); // Set the sensor to short range MSSUMOsetShortRange(HTMSSUMO); nxtDisplayRICFile(0, 0, "sumonone.ric"); while(true) { if (time1[T1] > 1000) { if (shortrange == false) { // set the sensor to short range and display this MSSUMOsetShortRange(HTMSSUMO); nxtDisplayCenteredTextLine(7, "Short range"); shortrange = true; } else { // set the sensor to long range and display this MSSUMOsetLongRange(HTMSSUMO); nxtDisplayCenteredTextLine(7, "Long range"); shortrange = false; } PlaySound(soundBeepBeep); while(bSoundActive) time1[T1] = 0; } while(nNxtButtonPressed != kEnterButton) { zone = MSSUMOreadZone(HTMSSUMO); if (shortrange) { switch (zone) { case MSSUMO_NONE: nxtDisplayRICFile(0, 0, "sumonone.ric"); break; case MSSUMO_FRONT: nxtDisplayRICFile(0, 0, "sumoSF.ric"); break; case MSSUMO_RIGHT: nxtDisplayRICFile(0, 0, "sumoSL.ric"); break; case MSSUMO_LEFT: nxtDisplayRICFile(0, 0, "sumoSR.ric"); break; } nxtDisplayCenteredTextLine(7, "Short range"); } else { switch (zone) { case MSSUMO_NONE: nxtDisplayRICFile(0, 0, "sumonone.ric"); break; case MSSUMO_FRONT: nxtDisplayRICFile(0, 0, "sumoLF.ric"); break; case MSSUMO_RIGHT: nxtDisplayRICFile(0, 0, "sumoLL.ric"); break; case MSSUMO_LEFT: nxtDisplayRICFile(0, 0, "sumoLR.ric"); break; } nxtDisplayCenteredTextLine(7, "Long range"); } wait1Msec(10); } } }