int get_val(void)
{
int val = 0;
button = -1;
//high(26);
//freqout(4, 100, 4000);
//low(26);
pause(250);
while(1)
{
val *= 10;
button = sirc_button(10);
if(button == ENTER)
{
if(val > 500) val = 500;
if(val < -500) val = -500;
button = -1;
break;
}
else if(button != -1)
{
high(26);
freqout(4, 100, 4000);
low(26);
if(button >= 0 && button <= 9)
val += button;
pause(250);
button = -1;
}
}
low(26);
return val;
}
int main() // Main function
{
int a;
sirc_setTimeout(1000);
while(1)
{
a=sirc_button(3);
if(a==16)
{
wav_play("ouch.wav");
pause(1000);
}
else if(a==17)
{
wav_play("no.wav");
pause(1000);
}
else if(a==18)
{
wav_play("meow.wav");
pause(1500);
}
else if(a==19)
{
wav_play("hello1.wav");
pause(1500);
}
}
}
int main() // Main - execution begins!
{
xbee = fdserial_open(11, 10, 0, 9600);
//dprint(xbee, "hello");
//dprint(xbee, "hello");
drive_speed(0,0); // Start servos/encoders cog
drive_setRampStep(10); // Set ramping at 10 ticks/sec per 20 ms
sirc_setTimeout(50); // Remote timeout = 50 ms
//drive_feedback(0);
dt = CLKFREQ/10;
t = CNT;
while(1) // Outer loop
{
int button = sirc_button(4); // check for remote key press
// Motion responses - if key pressed, set wheel speeds
if(button == 2)
{
if(!running)
cogstart(&gofwd, NULL, fstack, sizeof fstack);
}
if(button == 8)
{
if(!running)
cogstart(&gobkwd, NULL, bstack, sizeof bstack);
}
if(button == CH_UP)drive_rampStep(100, 100); // Left turn
if(button == CH_DN)drive_rampStep(-100, -100); // Right turn
if(button == VOL_DN)drive_rampStep(-100, 100); // Left turn
if(button == VOL_UP)drive_rampStep(100, -100); // Right turn
if(button == MUTE)drive_rampStep(0, 0); // Stop
if(button == ENTER)
{
getTicks();
displayTicks();
}
if(CNT - t > dt)
{
t+=dt;
i++;
getTicks();
if
(
ticksLeftCalc != ticksLeftCalcOld
|| ticksRightCalc != ticksRightCalcOld
|| ticksLeft != ticksLeftOld
|| ticksRight != ticksRightOld
)
{
displayTicks();
}
}
}
}
int main() // Main function
{
int a;
sirc_setTimeout(1000);
while(1)
{
a=sirc_button(3);
if(a==16)
high(3);
else if(a==17)
high(5);
else if(a==18)
high(4);
else if(a==19)
high(6);
pause(100);
}
}
void set_mode(void)
{
button = -1;
high(26);
freqout(4, 100, 4000);
pause(250);
while(button == -1)
{
button = sirc_button(10);
if(button != -1)
freqout(4, 100, 4000);
if(button >-1 && button < 10)
{
mode = button;
break;
}
}
low(26);
}
int main() // Main function
{
int a;
sirc_setTimeout(1000);
while(1)
{
a=sirc_button(3);
if(a==16)
drive_speed(128,128); //Move forward
else if(a==17)
drive_speed(-128,-128); //Move backward
else if(a==18)
drive_goto(50,0); //Move Right
else if(a==19)
drive_goto(0,50); //Move left
else if(a==20)
drive_speed(0,0); //Stop moving
pause(100);
}
}
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;
*/
}
}
}
