static void console_out_character(console_private_t *pcp, const unsigned char ch)
{
cursor(pcp, CS_SUSPEND);
if (!pcp->bMarkMode) {
if (pcp->bIsMarked) {
unmark_window(pcp);
pcp->bIsMarked = FALSE;
}
}
if (ch >= 32) {
pcp->pchWindowBuffer[CALC_POS(pcp, pcp->xPos, pcp->yPos)] = ch;
draw_current_character(pcp);
move_forwards(pcp);
} else {
/* do we have a backspace? */
if (ch == 8) {
move_backwards(pcp);
pcp->pchWindowBuffer[CALC_POS(pcp, pcp->xPos, pcp->yPos)] = ' ';
draw_current_character(pcp);
}
/* do we have a return? */
if ( (ch == 13) || (ch == '\n')) {
pcp->xPos = 0;
move_downwards(pcp);
}
}
cursor(pcp, CS_RESUME);
}
void pulse_fine_forward(){
move_forwards(10);
current_pulse_delay = 200;
start_pulse_timer(40);
pulse_fn = pulse_fine_forward;
is_pulsing = true;
}
void final_move_to_depo_fn(){
if (just_entered_state){
desperation = 0;
// pulse_forward();
move_forwards(9);
debug_red->led_on();
debug_blue->led_on();
start_timer(MAIN_STATE_TIMER, 300);
}
// check_pulse();
if (respond_to_timer(SECONDARY_TIMER, GETTING_CLOSER_TO_DEPO)){
// set in finding_depo_to_skip
return;
}
if (!depository_found()){
if (direction_of_interest == DIR_LEFT){
if (respond_to_timer(MAIN_STATE_TIMER, SEARCH_RIGHT_A_BIT)) {
direction_of_interest == DIR_RIGHT;
return;
}
}
if (direction_of_interest == DIR_RIGHT){
if (respond_to_timer(MAIN_STATE_TIMER, SEARCH_LEFT_A_BIT)) {
direction_of_interest == DIR_LEFT;
return;
}
}
}
// if (respond_to_tape_on(tape_f, GETTING_CLOSER_TO_DEPO))return;
if (respond_to_any_bumper_bumped(GETTING_CLOSER_TO_DEPO)) return;
// if (respond_to_any_bumper_bumped(LIFTING_HOPPER)) return;
}
void pulse_forward(){ // be able to pass in the interval?
// Serial.println("pulse_forward");
move_forwards(10);
current_pulse_delay = 120;
start_pulse_timer(80);
pulse_fn = pulse_forward;
is_pulsing = true;
}
void getting_closer_to_depo_fn(){
if (just_entered_state){
move_forwards(10);
start_timer(MAIN_STATE_TIMER, 400);
debug_green->led_on();
}
if (respond_to_timer(MAIN_STATE_TIMER, LIFTING_HOPPER)) {
times_hopper_lifted = 0;
return;
}
}
void moving_forward_fn(){
if (just_entered_state){
Serial.println("moving_forward_fn");
start_timer(MAIN_STATE_TIMER, 1000);
debug_blue->led_on();
move_forwards(10);
// stop_moving();
// pivot_left(10);
// pivot_right(10);
}
// if (respond_to_key(ROTATING_LEFT)) return;
if (respond_to_timer(MAIN_STATE_TIMER, NULL_STATE)) return;
// if (respond_to_any_bumper_bumped(NULL_STATE)) return;
}
void null_state_fn(){
if (just_entered_state){
Serial.println("null_state_fn");
debug_red->led_on();
debug_green->led_on();
debug_blue->led_on();
move_forwards(8);
}
// Serial.println(digitalRead(BUMPER_R_PIN));
// change_state_to(ROTATING_RIGHT);
// change_state_to(MOVING_FORWARD);
// change_state_to(PULSE_ARC_BACK);
// change_state_to(PULSE_ROTATE_RIGHT);
// change_state_to(PULSE_FORWARD);
// change_state_to(EXTENDING_BUTTON_PRESSER);
// change_state_to(LIFTING_HOPPER);
change_state_to(FIRST_ROTATE_TO_FIND_SERVER);
// change_state_to(MOVING_FW_TO_ALIGN_WITH_SERVER);
// change_state_to(SEARCH_RIGHT_A_BIT);
// change_state_to(FINDING_DEPO_TO_SKIP);
// change_state_to(CENTERED_ON_SERVER_TAPE);
// change_state_to(FINAL_ALIGN_TO_SERVER);
// if (respond_to_key(LIFTING_HOPPER)) return;
// if (respond_to_key(FIRST_ROTATE_TO_FIND_SERVER)) return;
// if (respond_to_any_bumper_bumped( MOVING_FORWARD)) return;
// if (respond_to_bumper_bumped(bumper_r, MOVING_FORWARD)) return;
// if (respond_to_bumper_bumped(bumper_l, ROTATING_RIGHT)) return;
// if (respond_to_bumper_bumped(bumper_r, FIRST_ROTATE_TO_FIND_SERVER)) return;
// if (respond_to_bumper_bumped(bumper_l, EXTENDING_BUTTON_PRESSER)) return;
// if (respond_to_both_bumpers_bumped( bumper_l, bumper_r, MOVE_FORWARD)) return;
// if (respond_to_key(NULL_STATE)) return;
// if (respond_to_depository_found(DEPO_BEACON_SENSED)) return;
// if (respond_to_server_found(SERVER_BEACON_SENSED)) return;
// if (respond_to_tape_on(tape_f, TAPE_F_SENSED)) return;
// if (respond_to_tape_on(tape_c, TAPE_C_SENSED)) return;
}
