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#include <main.h>
#include <stdint.h>
#include <math.h>
extern Gyro gyro; // Originally defined in init.c
/*
* These keep track of the current LCD 'window' and the number of 'windows' that exist.
*/
static signed int ctty=0;
const unsigned int mtty=4;
static double imeDriveLeft;
static double imeDriveRight;
static double imeRotater;
static double gyroRotation;
/*
* This runs as a separate task to update the LCD.
*/
void operatorLCD(void *unused){
static int ime;
while(1){
/*
* Display information according to the current 'window'.
*/
switch(ctty){
default:
case 0: // Welcome screen
lcdSetText(uart1,1," JOHN CENA ");
lcdPrint(uart1,2," ===========%3d",motorGet(CANNON1));
break;
case 1: // Battery levels in volts
lcdPrint(uart1,1,"MAIN: %0.3f",(float)(powerLevelMain()/1000.0f));
lcdPrint(uart1,2,"EXP : %0.3f",(float)(analogRead(1) / 280.0f));
break;
case 2: // Gyroscope readings
imeGet(IROTATER,&ime);
double rot = ime / 3.0L / 627.2L * 10;
rot = floor(rot) / 10;
lcdPrint(uart1,1,"Gyro: %d",gyroGet(gyro));
lcdPrint(uart1,2,"Rot.: %.1lf",rot);
break;
case 3:
lcdPrint(uart1,1,"%.3lf",imeDriveLeft);
lcdPrint(uart1,2,"%.3lf",imeDriveRight);
break;
}
delay(500);
}
}
void operatorPoll(){
static int idl,idr,ir,gr;
while(1){
/*
* Read in rotations of motors and the current angle of the robot.
*/
imeGet(DRIVEL,&idl); // Get reading
imeDriveLeft = idl / 627.0L; // Convert to wheel rotations
imeDriveLeft *= 8.64L; // Convert to distance in inches
imeGet(DRIVER,&idr); // Get reading
imeDriveRight = idr / 627.0L; // Convert to wheel rotations
imeDriveRight *= 8.64L; // Convert to distance in inches
imeGet(ROTATER,&ir);
imeRotater = ir / 627.0L;
gyroRotation = gyroGet(gyro);
delay(100);
}
}
void operatorControl(){
static bool selfAim = false;
static char uiinc = 0; // See below
static char in,lift; // Used to set the multiple cannon motors to the same joy-stick reading.
taskCreate(operatorLCD ,TASK_DEFAULT_STACK_SIZE,NULL,TASK_PRIORITY_DEFAULT);
taskCreate(operatorPoll,TASK_DEFAULT_STACK_SIZE,NULL,TASK_PRIORITY_DEFAULT);
while(1){
// Set the drive motors speeds.
motorSet(DRIVEL,joystickGetAnalog(1,3));
motorSet(DRIVER,joystickGetAnalog(1,2));
// Set the rotating motor speed.
if(!selfAim){
motorSet(ROTATER,-joystickGetAnalog(2,1)/2);
}else{
//static int gc=0,gl=0;
//gl = gc;
//gc = gyroGet(gyro);
}
// Set the cannon's speed.
in=joystickGetAnalog(2,3);
motorSet(CANNON1,in);
motorSet(CANNON2,in);
motorSet(CANNON3,in);
motorSet(CANNON4,in);
// Set the intake's speed.
motorSet(INTAKE,joystickGetDigital(1,6,JOY_UP )? 127 :
joystickGetDigital(1,6,JOY_DOWN)? -127 :
0 );
// Set the lift's speed.
lift=joystickGetDigital(2,6,JOY_UP )? 127 :
joystickGetDigital(2,6,JOY_DOWN)? -127 :
0 ;
motorSet(LIFT1,lift);
motorSet(LIFT2,lift);
/*
* Miscellaneous operation handlers.
*/
if(++uiinc==20){ // Equates to every 200ms
uiinc=0;
// Goto next 'window'.
if(joystickGetDigital(1,7,JOY_UP) ||
joystickGetDigital(2,7,JOY_UP) ){
if(++ctty==mtty)ctty=0;
}
// Goto previous 'window'.
if(joystickGetDigital(1,7,JOY_DOWN) ||
joystickGetDigital(2,7,JOY_DOWN) ){
if(--ctty==-1)ctty=mtty-1;
}
// Run autonomous (for testing wo/ competition switch).
if(joystickGetDigital(1,7,JOY_RIGHT))
autonomous();
// Goto test area.
if(joystickGetDigital(1,7,JOY_LEFT)){
static double target = 0;
if(!target) target = (imeDriveLeft+imeDriveRight) / 2 + 13;
motorSet(DRIVEL,60);
motorSet(DRIVER,60);
while((imeDriveLeft+imeDriveRight) / 2 < target)
delay(10);
motorSet(DRIVEL,0);
motorSet(DRIVER,0);
}
}
delay(10); // Short delay to allow task switching.
}
}
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