motorComplex.c

/*******************************************************************************
* examples/motorComplex.c                                                      *
* =======================                                                      *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 07.11.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testMotor(void);
int main(void);
 
//*********************************[testMotor]**********************************
void testMotor(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
 
    int8_t value;
    int8_t speed;
    int8_t speed_display;
 
    lcdclr();
    lcdstr_p(PSTR("Motor -"         ));
 
    mode_set(kModeStudent);
    motors_request(kRequestContinuous);
    currents_request(kRequestContinuous);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
            lcdxy(0,1);
            lcdstr_p(PSTR("####(####)C:####"));
 
            lcdxy(8,0);
            if (menu_pos == 0) {
                lcdstr_p(PSTR(        "left "   ));
            } else {
                lcdstr_p(PSTR(        "right"   ));
            }
 
            speed = 0;
            speed_display = -128;
            motors_set(kMotorSetAll, 0);
 
            mdelay(400);
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> switch menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            menu_pos++;
            if (menu_pos > 1) {menu_pos = 0;}
            flag_redraw_menu = 0xFF;
        } else {
            if (buttons_get(kButtonRight)) {
                // right button --> speed up current motor
                leds_set(kLedRight , kLedOn );
                mdelay(100);
                leds_set(kLedRight , kLedOff);
 
                if (speed < 100) {
                    speed+= 5;
                    lcdxy(5,1);
                    int16tostr(lcdout,speed , 4);
                    if (menu_pos == 0) {
                        motors_set(kMotorSetLeft,speed);
                    } else {
                        motors_set(kMotorSetRight,speed);
                    }
                }
            } else {
                // no button --> slow down current motor
                if (speed >   0) {
                    speed-= 5;
                    lcdxy(5,1);
                    int16tostr(lcdout,speed , 4);
                    if (menu_pos == 0) {
                        motors_set(kMotorSetLeft,speed);
                    } else {
                        motors_set(kMotorSetRight,speed);
                    }
                    mdelay( 50);
                } else {
                    mdelay(250);
                }
            }
        }
 
        // update display depending on menu position
        if (menu_pos == 0) {
            if (motors_received()) {
                value = motors_get(kMotorGetLeft);
                if (speed_display != value) {
                    speed_display = value;
                    lcdxy( 0,1); int16tostr(lcdout,speed_display ,4);
                }
            }
            if (currents_changed()) {
                lcdxy(12,1);
                int16tostr(lcdout,currents_get(kCurrentGetLeft) ,4);
            }
        } else {
            if (motors_received()) {
                value = motors_get(kMotorGetRight);
                if (speed_display != value) {
                    speed_display = value;
                    lcdxy( 0,1); int16tostr(lcdout,speed_display ,4);
                }
            }
            if (currents_changed()) {
                lcdxy(12,1);
                int16tostr(lcdout,currents_get(kCurrentGetRight) ,4);
            }
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testMotor();
 
    return (0);
}