/**
* Initialisation des differents capteurs et du bluetooth
*/
void init(void)
{
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_display_string("Lo52 project\n");
nx_display_cursor_set_pos(0, 2);
//on affiche le niveau de la batterie
nx_display_uint(nx_avr_get_battery_voltage());
nx_display_cursor_set_pos(4, 2);
nx_display_string("/4000\n");
nx_systick_install_scheduler(watchdog);
// initialise le radar ultrason
nx_radar_init(RADAR_SENSOR);
//initialise le bluetooth
bt_init();
nx_display_string("bluetooth...OK");
//initialise le son
nx__sound_init();
// initialise le capteur de contact
nx_sensors_analog_enable(TOUCH_SENSOR);
//initialise le capteur de luminosité
nx_sensors_analog_enable(LIGHT_SENSOR);
nx_sensors_analog_digi_set(LIGHT_SENSOR, DIGI0);
}
void sensors_init(void) {
nx_radar_init(SENSORS_RADAR);
sensors_wall();
nx_sensors_analog_enable(SENSORS_TOUCH);
nx_sensors_analog_enable(SENSORS_LIGHT);
nx_sensors_analog_digi_set(SENSORS_LIGHT, DIGI0);
}
void main(void) {
nx_systick_install_scheduler(security_hook);
bool moving = FALSE;
S32 total_rotation = 0;
S8 speed = 60;
S8 start_angle = 0;
//tests_all();
//tests_usb();
//tests_bt();
//tests_usb_hardcore();
//tests_radar();
//tests_util();
//tests_defrag();
nx_radar_init(RADAR_SENSOR);
nx_lightsensor_init(LIGHT_SENSOR);
//nx_lightsensor_fire_spamlight(LIGHT_SENSOR);
/* for (fuffa_rot = 0; (nx_motors_get_tach_count(0) % 360) < 90; fuffa_rot++) {
nx_systick_wait_ms(1000);
nx_motors_rotate_angle(0, 100, 1, TRUE);
} */
for(;;) {
nx_systick_wait_ms(500);
//nx_display_cursor_set_pos(9, 3);
nx_display_clear();
total_rotation = nx_motors_get_tach_count(RADAR_MOTOR);
display_rotation_data(speed, total_rotation, start_angle);
switch (nx_avr_get_button()) {
case BUTTON_LEFT:
/* if (speed >= -95) {
speed -= 5;
} else {
speed = -100;
}*/
nx_motors_rotate (0, -60);
nx_systick_wait_ms(100);
start_angle = nx_motors_get_tach_count(0);
nx_motors_rotate_angle(RADAR_MOTOR, -35, 45, FALSE);
/*nx_systick_wait_ms(1000);
*nx_motors_rotate_angle(0, 100, 45, TRUE);
*/
break;
case BUTTON_RIGHT:
/*if (speed <= 95) {
speed += 5;
} else {
speed = 100;
}
nx_motors_rotate (0, speed);*/
nx_motors_rotate (0, 60);
nx_systick_wait_ms(100);
start_angle = nx_motors_get_tach_count(0);
nx_motors_rotate_angle(RADAR_MOTOR, 35, 45, FALSE);
break;
case BUTTON_OK:
if (moving) {
nx_motors_stop(RADAR_MOTOR, TRUE);
//nx_motors_stop(1, TRUE);
//nx_motors_stop(2, TRUE);
moving = !moving;
} else {
nx_motors_rotate(RADAR_MOTOR, speed);
//nx_motors_rotate(1, 20);
//nx_motors_rotate(2, 20);
moving = !moving;
}
break;
default:
break;
}
};
}
void tests_radar(void) {
#ifdef TEST_PORT4_I2C
U32 sensor = 3;
#else
U32 sensor = 2;
#endif
U8 reading;
S8 object;
U8 objects[8];
hello();
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_radar_init(sensor);
nx_display_string("Discovering...\n");
while (!nx_radar_detect(sensor)) {
nx_display_string("Error! Retrying\n");
nx_systick_wait_ms(500);
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_display_string("Discovering...\n");
}
nx_display_string("Found.\n\n");
nx_radar_info(sensor);
while (nx_avr_get_button() != BUTTON_OK);
// We are toggling between reading all values
// and reading them one after another. Just for fun and to test
// both ways to communicate with the US.
bool read_toggle = TRUE;
while (nx_avr_get_button() != BUTTON_RIGHT) {
// We are using the single shot mode, in continuous mode
// the US doesn't seem to measure more than one byte.
nx_radar_set_op_mode(sensor, RADAR_MODE_SINGLE_SHOT);
// Give the sensor the time to receive the echos and store
// the measurements.
nx_systick_wait_ms(100);
// Go on and read and display the values.
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
if( ! read_toggle ) {
memset(objects, 0, sizeof(objects));
if( ! nx_radar_read_all(sensor, objects) ) {
nx_display_string("Error reading!\n");
break;
}
}
for (object=0 ; object<8 ; object++) {
nx_display_uint(object);
nx_display_string("> ");
if( ! read_toggle )
reading = objects[object];
else
reading = nx_radar_read_distance(sensor, object);
if (reading > 0x00 && reading < 0xFF) {
nx_display_uint(reading);
nx_display_string(" cm");
} else {
nx_display_string("n/a");
}
if( ! object ) {
if( ! read_toggle )
nx_display_string(" (read8)");
else
nx_display_string(" (read1)");
}
nx_display_end_line();
}
read_toggle = ! read_toggle;
nx_systick_wait_ms(1000);
}
nx_radar_close(sensor);
goodbye();
}
