Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples
* ****************************************************************************
* Example: I2C Master 10 - Behaviour based Robot with TV remote control
* Author(s): Dominik S. Herwald, Dirk (RC)
* ****************************************************************************
* Description:
* This is a rather large example. We ported one of the behaviour based Robot
* Examples for the RP6 CONTROL M32 and added some new Behaviours.
* Now there is a Behaviour that lets the Robot wait until you clapped your
* hands three times or made some other noises.
* There is also a behaviour that checks if the Battery voltage is too low.
* If this is the case, the robot is stopped.
* In addition to the original example a new behaviour is implemented to
* control the robot with a RC5 TV remote control.
*
* Of course the Robot still drives around and tries to avoid collisions.
* The only difference is that it is controlled by the RP6 CONTROL M32.
*
* ############################################################################
* #+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+
*
* ATTENTION: THE ROBOT MOVES AROUND IN THIS EXAMPLE! PLEASE PROVIDE ABOUT
* 2m x 2m OR MORE FREE SPACE FOR THE ROBOT!
*
* >>> DO NOT FORGET TO REMOVE THE FLAT CABLE CONNECTION TO THE USB INTERFACE
* BEFORE YOU START THIS PROGRAM BY PRESSING THE START BUTTON ON THE ROBOT!
*
* #+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6ControlLib.h" // The RP6 Control Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // I2C Master Library
/*****************************************************************************/
/*****************************************************************************/
// Include our new "RP6 Control I2C Master library":
#include "RP6Control_I2CMasterLib.h"
/*****************************************************************************/
/*****************************************************************************/
// Behaviour command type:
#define IDLE 0
// The behaviour command data type:
typedef struct {
uint8_t speed_left; // left speed (is used for rotation and
// move distance commands - if these commands are
// active, speed_right is ignored!)
uint8_t speed_right; // right speed
unsigned dir:2; // direction (FWD, BWD, LEFT, RIGHT)
unsigned move:1; // move flag
unsigned rotate:1; // rotate flag
uint16_t move_value; // move value is used for distance and angle values
uint8_t state; // state of the behaviour
} behaviour_command_t;
behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE};
/*****************************************************************************/
// Cruise Behaviour:
#define CRUISE_SPEED_FWD 80 // Default speed
#define MOVE_FORWARDS 1
behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD,
false, false, 0, MOVE_FORWARDS};
/**
* Cruise Behaviour
*/
void behaviour_cruise(void)
{
}
/*****************************************************************************/
// Escape Behaviour:
#define ESCAPE_SPEED_BWD 80
#define ESCAPE_SPEED_ROTATE 60
#define ESCAPE_FRONT 1
#define ESCAPE_FRONT_WAIT 2
#define ESCAPE_LEFT 3
#define ESCAPE_LEFT_WAIT 4
#define ESCAPE_RIGHT 5
#define ESCAPE_RIGHT_WAIT 6
#define ESCAPE_WAIT_END 7
behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE};
/**
* This is the Escape behaviour for the Bumpers.
*/
void behaviour_escape(void)
{
static uint8_t bump_count = 0;
switch(escape.state)
{
case IDLE:
break;
case ESCAPE_FRONT:
escape.speed_left = ESCAPE_SPEED_BWD;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 200;
else
escape.move_value = 140;
escape.state = ESCAPE_FRONT_WAIT;
bump_count+=2;
break;
case ESCAPE_FRONT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
if(bump_count > 3)
{
escape.move_value = 110;
escape.dir = RIGHT;
bump_count = 0;
}
else
{
escape.dir = LEFT;
escape.move_value = 75;
}
escape.rotate = true;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_LEFT:
escape.speed_left = ESCAPE_SPEED_BWD;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 160;
else
escape.move_value = 100;
escape.state = ESCAPE_LEFT_WAIT;
bump_count++;
break;
case ESCAPE_LEFT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
escape.dir = RIGHT;
escape.rotate = true;
if(bump_count > 3)
{
escape.move_value = 100;
bump_count = 0;
}
else
escape.move_value = 65;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_RIGHT:
escape.speed_left = ESCAPE_SPEED_BWD ;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 160;
else
escape.move_value = 100;
escape.state = ESCAPE_RIGHT_WAIT;
bump_count++;
break;
case ESCAPE_RIGHT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
escape.dir = LEFT;
escape.rotate = true;
if(bump_count > 3)
{
escape.move_value = 100;
bump_count = 0;
}
else
escape.move_value = 65;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_WAIT_END:
if(!(escape.move || escape.rotate))
escape.state = IDLE;
break;
}
}
/**
* Bumpers Event handler
*/
void bumpersStateChanged(void)
{
if(bumper_left && bumper_right)
{
sound(200,100,0);
escape.state = ESCAPE_FRONT;
}
else if(bumper_left)
{
sound(200,25,10);
sound(150,25,0);
if(escape.state != ESCAPE_FRONT_WAIT)
escape.state = ESCAPE_LEFT;
}
else if(bumper_right)
{
sound(200,25,10);
sound(150,25,0);
if(escape.state != ESCAPE_FRONT_WAIT)
escape.state = ESCAPE_RIGHT;
}
}
/*****************************************************************************/
// Avoid Behaviour:
#define AVOID_SPEED_L_ARC_LEFT 20
#define AVOID_SPEED_L_ARC_RIGHT 80
#define AVOID_SPEED_R_ARC_LEFT 80
#define AVOID_SPEED_R_ARC_RIGHT 20
#define AVOID_SPEED_ROTATE 60
#define AVOID_OBSTACLE_RIGHT 1
#define AVOID_OBSTACLE_LEFT 2
#define AVOID_OBSTACLE_MIDDLE 3
#define AVOID_OBSTACLE_MIDDLE_WAIT 4
#define AVOID_END 5
behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE};
/**
* Avoid behaviour with ACS IR Sensors.
*/
void behaviour_avoid(void)
{
static uint8_t last_obstacle = LEFT;
static uint8_t obstacle_counter = 0;
switch(avoid.state)
{
case IDLE:
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
else if(obstacle_left)
avoid.state = AVOID_OBSTACLE_LEFT;
else if(obstacle_right)
avoid.state = AVOID_OBSTACLE_RIGHT;
break;
case AVOID_OBSTACLE_MIDDLE:
avoid.dir = last_obstacle;
avoid.speed_left = AVOID_SPEED_ROTATE;
avoid.speed_right = AVOID_SPEED_ROTATE;
if(!(obstacle_left || obstacle_right))
{
if(obstacle_counter > 3)
{
obstacle_counter = 0;
setStopwatch4(0);
}
else
setStopwatch4(400);
startStopwatch4();
avoid.state = AVOID_END;
}
break;
case AVOID_OBSTACLE_RIGHT:
avoid.dir = FWD;
avoid.speed_left = AVOID_SPEED_L_ARC_LEFT;
avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT;
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
if(!obstacle_right)
{
setStopwatch4(500);
startStopwatch4();
avoid.state = AVOID_END;
}
last_obstacle = RIGHT;
obstacle_counter++;
break;
case AVOID_OBSTACLE_LEFT:
avoid.dir = FWD;
avoid.speed_left = AVOID_SPEED_R_ARC_LEFT;
avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT;
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
if(!obstacle_left)
{
setStopwatch4(500);
startStopwatch4();
avoid.state = AVOID_END;
}
last_obstacle = LEFT;
obstacle_counter++;
break;
case AVOID_END:
if(getStopwatch4() > 1000)
{
stopStopwatch4();
setStopwatch4(0);
avoid.state = IDLE;
}
break;
}
}
/**
* ACS Event Handler
*/
void acsStateChanged(void)
{
if(obstacle_left && obstacle_right)
statusLEDs.byte = 0b100100;
else
statusLEDs.byte = 0b000000;
statusLEDs.LED5 = obstacle_left;
statusLEDs.LED4 = (!obstacle_left);
statusLEDs.LED2 = obstacle_right;
statusLEDs.LED1 = (!obstacle_right);
updateStatusLEDs();
if(obstacle_left && obstacle_right)
{
sound(160,20,0);
}
else
{
if(obstacle_left)
sound(120,10,0);
if(obstacle_right)
sound(140,10,0);
}
}
/*****************************************************************************/
// RC5 Reception Behaviour:
// The TV Remote Control definitions
// ###########################
// Uncomment __one__ (only one!) of the following definitions:
//#define RC_EURO_SKY
//#define RC_PROMO8
#define RC_TOTAL_CONTROL
//#define RC_YOUR_OWN
// ...
// ###########################
// Change the keymapping here:
#ifdef RC_EUROSKY // RC Type: Conrad - EuroSky
#define RC5_KEY_LEFT 22
#define RC5_KEY_RIGHT 21
#define RC5_KEY_FORWARDS 16
#define RC5_KEY_BACKWARDS 17
#define RC5_KEY_STOP 23
#define RC5_KEY_CURVE_LEFT 1
#define RC5_KEY_CURVE_RIGHT 3
#define RC5_KEY_CURVE_BACK_LEFT 7
#define RC5_KEY_CURVE_BACK_RIGHT 9
#define RC5_KEY_LEFT_MOTOR_FWD 1
#define RC5_KEY_LEFT_MOTOR_BWD 7
#define RC5_KEY_RIGHT_MOTOR_FWD 3
#define RC5_KEY_RIGHT_MOTOR_BWD 9
#define RC5_KEY_CONTROL_START ?
#define RC5_KEY_CONTROL_END ?
#endif
#ifdef RC_PROMO8 // RC Type: Conrad - Promo8
#define RC5_KEY_LEFT 21
#define RC5_KEY_RIGHT 22
#define RC5_KEY_FORWARDS 32
#define RC5_KEY_BACKWARDS 33
#define RC5_KEY_STOP 11
#define RC5_KEY_CURVE_LEFT 29
#define RC5_KEY_CURVE_RIGHT 13
#define RC5_KEY_CURVE_BACK_LEFT 10
#define RC5_KEY_CURVE_BACK_RIGHT 62
#define RC5_KEY_LEFT_MOTOR_FWD 1
#define RC5_KEY_LEFT_MOTOR_BWD 7
#define RC5_KEY_RIGHT_MOTOR_FWD 3
#define RC5_KEY_RIGHT_MOTOR_BWD 9
#define RC5_KEY_CONTROL_START ?
#define RC5_KEY_CONTROL_END ?
#endif
#ifdef RC_TOTAL_CONTROL // RC Type: Conrad - TOTAL control
#define RC5_KEY_LEFT 4 // 4
#define RC5_KEY_RIGHT 6 // 6
#define RC5_KEY_FORWARDS 2 // 2
#define RC5_KEY_BACKWARDS 8 // 8
#define RC5_KEY_STOP 5 // 5
#define RC5_KEY_CURVE_LEFT 32 // P+
#define RC5_KEY_CURVE_RIGHT 16 // L+
#define RC5_KEY_CURVE_BACK_LEFT 33 // P-
#define RC5_KEY_CURVE_BACK_RIGHT 17 // L-
#define RC5_KEY_LEFT_MOTOR_FWD 1 // 1
#define RC5_KEY_LEFT_MOTOR_BWD 7 // 7
#define RC5_KEY_RIGHT_MOTOR_FWD 3 // 3
#define RC5_KEY_RIGHT_MOTOR_BWD 9 // 9
#define RC5_KEY_CONTROL_START 23 // ENTER
#define RC5_KEY_CONTROL_END 0 // 0
#endif
#ifdef RC_YOUR_OWN // Your own RC!
#define RC5_KEY_LEFT 4
#define RC5_KEY_RIGHT 6
#define RC5_KEY_FORWARDS 2
#define RC5_KEY_BACKWARDS 8
#define RC5_KEY_STOP 5
#define RC5_KEY_CURVE_LEFT 1
#define RC5_KEY_CURVE_RIGHT 3
#define RC5_KEY_CURVE_BACK_LEFT 7
#define RC5_KEY_CURVE_BACK_RIGHT 9
#define RC5_KEY_LEFT_MOTOR_FWD 10
#define RC5_KEY_LEFT_MOTOR_BWD 11
#define RC5_KEY_RIGHT_MOTOR_FWD 12
#define RC5_KEY_RIGHT_MOTOR_BWD 13
#define RC5_KEY_CONTROL_START ?
#define RC5_KEY_CONTROL_END ?
#endif
//... you can add more Remote control keymappings or implement something
// better than this if you like...
#define RC5RECEPTION_MOVE 1
behaviour_command_t rc5Reception = {0, 0, FWD, false, false, 0, IDLE};
/**
* Behaviour with RC5 Reception.
*/
void behaviour_rc5Reception(void)
{
}
#define RC5RECEPTION_SPEED_ROTATE 60
#define RC5RECEPTION_SPEED_MAX 80
#define RC5RECEPTION_SPEED_L_ARC_LEFT 20
#define RC5RECEPTION_SPEED_L_ARC_RIGHT 80
#define RC5RECEPTION_SPEED_R_ARC_LEFT 80
#define RC5RECEPTION_SPEED_R_ARC_RIGHT 20
/**
* RC5 Event Handler
*/
void receiveRC5Data(RC5data_t rc5data)
{
// Check which key is pressed:
switch(rc5data.key_code)
{
case RC5_KEY_LEFT: // Turn left:
rc5Reception.speed_left = RC5RECEPTION_SPEED_ROTATE;
rc5Reception.speed_right = 0;
rc5Reception.dir = LEFT;
rc5Reception.move = false;
rc5Reception.rotate = true;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_RIGHT: // Turn right:
rc5Reception.speed_left = RC5RECEPTION_SPEED_ROTATE;
rc5Reception.speed_right = 0;
rc5Reception.dir = RIGHT;
rc5Reception.move = false;
rc5Reception.rotate = true;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_FORWARDS: // Move forwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
rc5Reception.dir = FWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_BACKWARDS: // Move backwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
rc5Reception.dir = BWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_STOP: // Stop!
rc5Reception.speed_left = 0;
rc5Reception.speed_right = 0;
rc5Reception.dir = FWD;
rc5Reception.move = false;
rc5Reception.rotate = false;
rc5Reception.move_value = 0;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_CURVE_LEFT: // Drive curve left - forwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_L_ARC_LEFT;
rc5Reception.speed_right = RC5RECEPTION_SPEED_L_ARC_RIGHT;
rc5Reception.dir = FWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_CURVE_RIGHT: // Drive curve right - forwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_R_ARC_LEFT;
rc5Reception.speed_right = RC5RECEPTION_SPEED_R_ARC_RIGHT;
rc5Reception.dir = FWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_CURVE_BACK_LEFT: // Drive curve left - backwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_L_ARC_LEFT;
rc5Reception.speed_right = RC5RECEPTION_SPEED_L_ARC_RIGHT;
rc5Reception.dir = BWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_CURVE_BACK_RIGHT: // Drive curve right - backwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_R_ARC_LEFT;
rc5Reception.speed_right = RC5RECEPTION_SPEED_R_ARC_RIGHT;
rc5Reception.dir = BWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_LEFT_MOTOR_FWD: // Only left motor on - forwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
rc5Reception.speed_right = 0;
rc5Reception.dir = FWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_LEFT_MOTOR_BWD: // Only left motor on - backwards
rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
rc5Reception.speed_right = 0;
rc5Reception.dir = BWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_RIGHT_MOTOR_FWD: // Only right motor on - forwards
rc5Reception.speed_left = 0;
rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
rc5Reception.dir = FWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_RIGHT_MOTOR_BWD: // Only right motor on - backwards
rc5Reception.speed_left = 0;
rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
rc5Reception.dir = BWD;
rc5Reception.move = true;
rc5Reception.rotate = false;
rc5Reception.move_value = 100;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_CONTROL_START: // Start of the RC5 control mode
rc5Reception.speed_left = 0;
rc5Reception.speed_right = 0;
rc5Reception.dir = FWD;
rc5Reception.move = false;
rc5Reception.rotate = false;
rc5Reception.move_value = 0;
rc5Reception.state = RC5RECEPTION_MOVE;
break;
case RC5_KEY_CONTROL_END: // End of the RC5 control mode
rc5Reception.speed_left = 0;
rc5Reception.speed_right = 0;
rc5Reception.dir = FWD;
rc5Reception.move = false;
rc5Reception.rotate = false;
rc5Reception.move_value = 0;
rc5Reception.state = IDLE;
break;
}
if(rc5Reception.state == RC5RECEPTION_MOVE)
{
if(getStopwatch2() > 500)
{
clearPosLCD(1, 0, 13);
setCursorPosLCD(1, 0);
// Display the received data:
writeStringLCD_P("RC5 ");
writeCharLCD(rc5data.toggle_bit + '0');
writeStringLCD_P(" |");
writeIntegerLCD(rc5data.device, DEC);
writeStringLCD_P(" |");
writeIntegerLCD(rc5data.key_code, DEC);
setStopwatch2(0);
}
}
}
/*****************************************************************************/
// Behaviour waitForStart:
#define PREPARE 1
#define WAIT 2
behaviour_command_t waitForStart = {0, 0, FWD,
false, false, 0, PREPARE};
/**
* Wait for start Behaviour.
* You need to clap your hands (or make other noise) three times in order
* to start the Robot!
*/
void behaviour_waitForStart(void)
{
static uint8_t peak_count = 3;
if(waitForStart.state == PREPARE)
{
if(getStopwatch2() > 250)
{
setCursorPosLCD(1, 6);
writeIntegerLengthLCD( peak_count, DEC, 1);
dischargePeakDetector();
waitForStart.state = WAIT;
setStopwatch2(0);
}
}
else if(waitForStart.state == WAIT)
{
uint8_t key = checkReleasedKeyEvent();
if(key)
waitForStart.state = IDLE;
if(getStopwatch2() > 50)
{
uint16_t tmp = getMicrophonePeak();
if(tmp > 4)
{
externalPort.LEDS = 0;
uint16_t i;
uint8_t j;
for(i = 0, j = 2; i < tmp; i+= 40)
{
if(i < 40)
{
externalPort.LEDS++;
}
else
{
externalPort.LEDS <<=1;
externalPort.LEDS++;
}
}
outputExt();
if(tmp > 120)
{
waitForStart.state = PREPARE;
peak_count--;
}
if(peak_count == 0)
waitForStart.state = IDLE;
}
else
setLEDs(0b0000);
setStopwatch2(0);
}
}
}
/*****************************************************************************/
// Behaviour check low Battery:
#define BATTERY_LOW 1
behaviour_command_t checkLowBattery = {0, 0, FWD,
false, false, 0, IDLE};
/**
* In this behaviour routine, we have nothing to do
*/
void behaviour_checkLowBattery(void)
{
}
/**
* This is a new Event Handler and it gets called when the Battery Voltage
* is getting low! The Parameter isVoltageLow is true, when the voltage
* is low and false, when the voltage is OK.
*/
void batteryVoltageLow(uint8_t isVoltageLow)
{
if(isVoltageLow)
checkLowBattery.state = BATTERY_LOW;
}
/*****************************************************************************/
// Behaviour control:
/**
* This function processes the movement commands that the behaviours generate.
* Depending on the values in the behaviour_command_t struct, it sets motor
* speed, moves a given distance or rotates.
*/
void moveCommand(behaviour_command_t * cmd)
{
if(cmd->move_value > 0) // move or rotate?
{
if(cmd->rotate)
rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
else if(cmd->move)
move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
cmd->move_value = 0; // clear move value - the move commands are only
// given once and then runs in background.
}
else if(!(cmd->move || cmd->rotate)) // just move at speed?
{
changeDirection(cmd->dir);
moveAtSpeed(cmd->speed_left,cmd->speed_right);
}
else if(isMovementComplete()) // movement complete? --> clear flags!
{
cmd->rotate = false;
cmd->move = false;
}
}
/**
* A small helper function to display the current behaviour on the
* LCD. It only prints out the active behaviour ONCE, otherwise the
* text would flicker on the LCD!
*/
void displayBehaviour(uint8_t behave)
{
static uint8_t compare = 0;
if(compare != behave)
{
compare = behave;
clearPosLCD(1, 0, 13);
setCursorPosLCD(1, 0);
switch(behave)
{
case 7: writeStringLCD_P("RC5 CONTROL"); setLEDs(0b0000); break;
case 6: writeStringLCD_P("LOW BATTERY!"); setLEDs(0b0000); break;
case 5: writeStringLCD_P("WAIT"); setLEDs(0b0000); break;
case 4: writeStringLCD_P("ESCAPE"); setLEDs(0b0110); break;
case 3: writeStringLCD_P("AVOID"); setLEDs(0b1001); break;
case 2: writeStringLCD_P("CRUISE"); setLEDs(0b0000); break;
case 1: writeStringLCD_P("STOP"); setLEDs(0b0000); break;
}
}
if(behave == 2) // If Cruise behaviour is active, show a running light...
{
static uint8_t runLEDs = 1;
static uint8_t dir = 0;
if(getStopwatch2() > 100)
{
setLEDs(runLEDs);
if(dir == 0)
runLEDs <<= 1;
else
runLEDs >>= 1;
if(runLEDs > 7 )
dir = 1;
else if (runLEDs < 2 )
dir = 0;
setStopwatch2(0);
}
}
if(behave == 6) // If Battery is low - beep all 3 seconds!
{
if(getStopwatch2() > 3000) // We can use Stopwatch2 here and
{ // for several other things because only
sound(200,20,20); // one of these things can be active at
sound(225,20,60); // the same time! You could not do this if
sound(200,20,20); // there were things that could be active
sound(225,20,0); // at the same time!
setStopwatch2(0);
}
}
if(behave == 7) // If RC5 control is active - beep every second!
{
if(getStopwatch2() > 1000)
{
sound(240,50,25); // Beep (C4)
setStopwatch2(0);
}
}
}
/**
* The behaviourController task controls the subsumption architechture.
* It implements the priority levels of the different behaviours.
*
* Here we also show which behaviour is active on the LC-Display!
*
*/
void behaviourController(void)
{
// Call all the behaviour tasks:
behaviour_checkLowBattery();
behaviour_waitForStart();
behaviour_cruise();
behaviour_avoid();
behaviour_escape();
behaviour_rc5Reception();
// Execute the commands depending on priority levels:
if(checkLowBattery.state != IDLE) // Highest priority - 6
{
displayBehaviour(6);
moveCommand(&checkLowBattery);
}
else if(rc5Reception.state != IDLE) // Priority - 5.5
{
displayBehaviour(7);
moveCommand(&rc5Reception);
}
else if(waitForStart.state != IDLE) // Priority - 5
{
displayBehaviour(5);
moveCommand(&waitForStart);
}
else if(escape.state != IDLE) // Priority - 4
{
displayBehaviour(4);
moveCommand(&escape);
}
else if(avoid.state != IDLE) // Priority - 3
{
displayBehaviour(3);
moveCommand(&avoid);
}
else if(cruise.state != IDLE) // Priority - 1
{
displayBehaviour(2);
moveCommand(&cruise);
}
else // Lowest priority - 0
{
displayBehaviour(1);
moveCommand(&STOP); // Default command - do nothing!
// In the current implementation this never
// happens.
}
}
/*****************************************************************************/
/**
* Prints all Sensor Values on the Serial Interface.
*/
void printAllSensorValues(void)
{
getAllSensors();
writeString_P("\nRead Sensor Values:\n");
writeString_P("PL:");writeIntegerLength(mleft_power,DEC,3);
writeString_P(" | PR:");writeIntegerLength(mright_power,DEC,3);
writeString_P(" | VL:");writeIntegerLength(mleft_speed,DEC,3);
writeString_P(" | VR:");writeIntegerLength(mright_speed,DEC,3);
writeString_P(" | DL:");writeIntegerLength(mleft_des_speed,DEC,3);
writeString_P(" | DR:");writeIntegerLength(mright_des_speed,DEC,3);
writeChar('\n');
writeString_P("DSTL:");writeIntegerLength(mleft_dist,DEC,5);
writeString_P(" | DSTR:");writeIntegerLength(mright_dist,DEC,5);
writeChar('\n');
writeString_P("LSL:");writeIntegerLength(adcLSL,DEC,4);
writeString_P(" | LSR:");writeIntegerLength(adcLSR,DEC,4);
writeString_P(" | MCL:");writeIntegerLength(adcMotorCurrentLeft,DEC,4);
writeString_P(" | MCR:");writeIntegerLength(adcMotorCurrentRight,DEC,4);
writeString_P(" | BAT:");writeIntegerLength(adcBat,DEC,4);
writeString_P(" | AD0:");writeIntegerLength(adc0,DEC,4);
writeString_P(" | AD1:");writeIntegerLength(adc1,DEC,4);
writeChar('\n');
}
/**
* Heartbeat function
*/
void task_LCDHeartbeat(void)
{
if(getStopwatch1() > 500)
{
static uint8_t heartbeat = false;
if(heartbeat)
{
clearPosLCD(1, 15, 1);
heartbeat = false;
}
else
{
setCursorPosLCD(1, 15);
writeStringLCD_P("*");
heartbeat = true;
printAllSensorValues();
}
setStopwatch1(0);
}
}
/**
* Timed Watchdog display - the other heartbeat function
* does not work in this example as we use blocked moving functions here.
*/
void watchDogRequest(void)
{
static uint8_t heartbeat2 = false;
if(heartbeat2)
{
clearPosLCD(1, 14, 1);
heartbeat2 = false;
}
else
{
setCursorPosLCD(1, 14);
writeStringLCD_P("#");
heartbeat2 = true;
}
}
/*****************************************************************************/
// I2C Requests:
/**
* The I2C_requestedDataReady Event Handler
*/
void I2C_requestedDataReady(uint8_t dataRequestID)
{
checkRP6Status(dataRequestID);
}
/*****************************************************************************/
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P("\nI2C ERROR - TWI STATE: 0x");
writeInteger(errorState, HEX);
writeChar('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6Control();
initLCD();
writeString_P("\n\nRP6 CONTROL M32 I2C Master Example Program!\n");
writeString_P("\nMoving...\n");
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
BUMPERS_setStateChangedHandler(bumpersStateChanged);
ACS_setStateChangedHandler(acsStateChanged);
IRCOMM_setRC5DataReadyHandler(receiveRC5Data);
BATTERY_setLowVoltageHandler(batteryVoltageLow);
// ---------------------------------------
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
sound(180,80,25);
sound(220,80,25);
setLEDs(0b1111);
showScreenLCD("################", "################");
mSleep(500);
showScreenLCD("I2C-Master", "Behaviours");
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
// Setup ACS power:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
// Enable Watchdog for Interrupt requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
// Enable timed watchdog requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
startStopwatch1();
startStopwatch2();
showScreenLCD("Active Behaviour", "");
while(true)
{
task_LCDHeartbeat();
task_checkINT0();
task_I2CTWI();
behaviourController();
}
return 0;
}
- also nicht alles umsonst gewesen...
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