#include "ETLineTracer.h"\r
#include "ETLinePos.h"\r
#include "ETBalanceRunner.h"\r
+#include "ETTailControl.h"\r
+#include "context.h"\r
\r
using namespace ecrobot;\r
\r
+/* sample_c4\83}\83N\83\8d */\r
+#define DEVICE_NAME "ET277" /* Bluetooth\92Ê\90M\97p\83f\83o\83C\83X\96¼ */ /* \83`\81[\83\80ID\82É\95Ï\8dX\82µ\82Ä\82\82¾\82³\82¢ */\r
+#define PASS_KEY "2345" /* Bluetooth\92Ê\90M\97p\83p\83X\83L\81[ */ /* \8cÅ\97L\82Ì\83p\83X\83L\81[\82ð\90Ý\92è\82µ\82Ä\82\82¾\82³\82¢ */\r
+#define CMD_START '1' /* \83\8a\83\82\81[\83g\83X\83^\81[\83g\83R\83}\83\93\83h */\r
+#define CMD_STOP '9' /* \83\8a\83\82\81[\83g\83X\83g\83b\83v\83R\83}\83\93\83h */\r
+\r
+\r
extern "C"\r
{\r
#include "kernel.h"\r
#include "kernel_id.h"\r
#include "ecrobot_interface.h"\r
\r
+DeclareTask(TaskMain);\r
DeclareCounter(SysTimerCnt);//Alarm\97\98\97p\8e\9e\95K\97v\r
\r
// global object instances\r
ETBalanceRunner runner(motorL,motorR,gyro,nxt);\r
ETLinePos linepos(light);\r
ETLineTracer tracer(linepos,runner);\r
+ETTailControl tailcontroler(motorT,0);\r
+ContextStuff::Context context;\r
+\r
+/* \83f\83o\83C\83X\8f\89\8aú\89»\97p\83t\83b\83N\8aÖ\90\94 */\r
+/* \82±\82Ì\8aÖ\90\94\82ÍnxtOSEK\8bN\93®\8e\9e\82É\8eÀ\8ds\82³\82ê\82Ü\82·\81B */\r
+void ecrobot_device_initialize()\r
+{\r
+ /* \83Z\83\93\83T\81A\83\82\81[\83^\82È\82Ç\82Ì\8ae\83f\83o\83C\83X\82Ì\8f\89\8aú\89»\8aÖ\90\94\82ð\r
+ * \82±\82±\82Å\8eÀ\91\95\82·\82é\82±\82Æ\82ª\82Å\82«\82Ü\82·\r
+ * \81Ë\81@\8cõ\83Z\83\93\83T\90Ô\90FLED\82ðON\82É\82·\82é\r
+ */\r
+ //ecrobot_set_light_sensor_active(SENSOR_LIGHT);\r
+ ecrobot_init_bt_slave(PASS_KEY); /* Bluetooth\92Ê\90M\8f\89\8aú\89» */ //ex4\r
+}\r
\r
+/* \83f\83o\83C\83X\8fI\97¹\97p\83t\83b\83N\8aÖ\90\94 */\r
+/* \82±\82Ì\8aÖ\90\94\82ÍSTOP\82Ü\82½\82ÍEXIT\83{\83^\83\93\82ª\89\9f\82³\82ê\82½\8e\9e\82É\8eÀ\8ds\82³\82ê\82Ü\82·\81B */\r
+void ecrobot_device_terminate()\r
+{\r
+ /* \83Z\83\93\83T\81A\83\82\81[\83^\82È\82Ç\82Ì\8ae\83f\83o\83C\83X\82Ì\8fI\97¹\8aÖ\90\94\82ð\r
+ * \82±\82±\82Å\8eÀ\91\95\82·\82é\82±\82Æ\82ª\82Å\82«\82Ü\82·\81B\r
+ * \81Ë\81@\8cõ\83Z\83\93\83T\90Ô\90FLED\82ðOFF\82É\82·\82é\r
+ */\r
+ //ecrobot_set_light_sensor_inactive(SENSOR_LIGHT);\r
+ ecrobot_term_bt_connection(); /* Bluetooth\92Ê\90M\82ð\8fI\97¹ */ //ex4\r
+}\r
+\r
+ \r
// nxtOSEK hook to be invoked from an ISR in category 2\r
void user_1ms_isr_type2(void)\r
{\r
}\r
}\r
\r
+/* Bluetooth\92Ê\90M\97p\83f\81[\83^\8eó\90M\83o\83b\83t\83@ */\r
+static char rx_buf[BT_MAX_RX_BUF_SIZE];\r
+\r
+/*****************************************************************************\r
+ \8aÖ\90\94\96¼ : Bluetooth_isReceived\r
+ \88ø \90\94 : \8eó\90M\91Ò\82¿\83R\83}\83\93\83h\r
+ \95Ô\82è\92l : 1(\83X\83^\81[\83g)/0(\91Ò\8b@)\r
+ \8aT \97v : Bluetooth\92Ê\90M\82É\82æ\82é\83\8a\83\82\81[\83g\83X\83^\81[\83g\81B Tera Term\82È\82Ç\82Ì\83^\81[\83~\83i\83\8b\83\\83t\83g\82©\82ç\81A\r
+ ASCII\83R\81[\83h\82Å1\82ð\91\97\90M\82·\82é\82Æ\81A\83\8a\83\82\81[\83g\83X\83^\81[\83g\82·\82é\81B\r
+ *****************************************************************************/\r
+BOOL Bluetooth_isReceived(char cmd)\r
+{\r
+ int i;\r
+ unsigned int rx_len;\r
+ unsigned char come = 0;\r
+\r
+ for (i=0; i<BT_MAX_RX_BUF_SIZE; i++)\r
+ {\r
+ rx_buf[i] = 0; /* \8eó\90M\83o\83b\83t\83@\82ð\83N\83\8a\83A */\r
+ }\r
+\r
+ rx_len = ecrobot_read_bt(rx_buf, 0, BT_MAX_RX_BUF_SIZE);\r
+ if (rx_len > 0)\r
+ {\r
+ /* \8eó\90M\83f\81[\83^\82 \82è */\r
+ if (rx_buf[0] == cmd)\r
+ {\r
+ come = 1; /* \83R\83}\83\93\83h\8eó\90M */\r
+ }\r
+ ecrobot_send_bt(rx_buf, 0, rx_len); /* \8eó\90M\83f\81[\83^\82ð\83G\83R\81[\83o\83b\83N */\r
+ }\r
+\r
+ return (BOOL)come;\r
+}\r
+\r
+\r
TASK(TaskMain)\r
{\r
+ bt.setFriendlyName(DEVICE_NAME);\r
lcd.clear();\r
lcd.putf("s", "Hello World");\r
lcd.disp();\r
+ tailcontroler.Init();\r
+ tailcontroler.SetAngle(ETTailControl::ANGLE_STAND_UP);\r
\r
- TerminateTask();\r
-}\r
\r
-TASK(Task4ms)\r
-{\r
- static int cnt = 0;\r
+ // TODO:\82Æ\82è\82 \82¦\82¸\82Ì\83L\83\83\83\8a\83u\83\8c\81[\83V\83\87\83\93\r
+ static const int sum_num = 256;\r
+ unsigned long sum = 0;\r
char str[16+1];\r
- lcd.clear();\r
- tsprintf(str,"cnt = %d",cnt++); // tsprintf \8eg\97p\97á\r
+ // \83W\83\83\83C\83\8d\r
+ while(!touch.isPressed()){\r
+ tailcontroler.Control();\r
+ }\r
+ while(touch.isPressed()){\r
+ }\r
+ for(int i=0;i<sum_num;i++){\r
+ sum += gyro.get();\r
+ clock.wait(10);\r
+ }\r
+ unsigned long offset = sum / sum_num;\r
+ runner.SetGyroOffset(offset);\r
+ tsprintf(str,"Offset = %d",offset);\r
+ lcd.cursor(0,1);\r
lcd.putf("s",str);\r
lcd.disp();\r
+ speaker.playTone(1000,100,50);\r
\r
- tracer.RunTrace(100);\r
+ // \94\92\r
+ while(!touch.isPressed()){\r
+ tailcontroler.Control();\r
+ }\r
+ while(touch.isPressed()){\r
+ }\r
+ sum = 0;\r
+ for(int i=0;i<sum_num;i++){\r
+ sum += light.getBrightness();\r
+ clock.wait(10);\r
+ }\r
+ unsigned long white = sum / sum_num;\r
+ linepos.SetWhite(white);\r
+ tsprintf(str,"White = %d",white);\r
+ lcd.cursor(0,2);\r
+ lcd.putf("s",str);\r
+ lcd.disp();\r
+ speaker.playTone(1200,100,50);\r
+\r
+ // \8d\95\r
+ while(!touch.isPressed()){\r
+ tailcontroler.Control();\r
+ }\r
+ while(touch.isPressed()){\r
+ }\r
+ sum = 0;\r
+ for(int i=0;i<sum_num;i++){\r
+ sum += light.getBrightness();\r
+ clock.wait(10);\r
+ }\r
+ unsigned long black = sum / sum_num;\r
+ linepos.SetBlack(black);\r
+ tsprintf(str,"Black = %d",black);\r
+ lcd.cursor(0,3);\r
+ lcd.putf("s",str);\r
+ lcd.disp();\r
+ speaker.playTone(1400,100,50);\r
+\r
+\r
+ while(!touch.isPressed()){\r
+ tailcontroler.Control();\r
+ }\r
+ while(touch.isPressed()){\r
+ }\r
+/* while(1){\r
+ tailcontroler.Control();\r
+ if(Bluetooth_isReceived(CMD_START)){\r
+ break;\r
+ }\r
+ }\r
+*/\r
+ tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);\r
+ context.SetETLineTracer(&tracer);\r
+ TerminateTask();\r
+}\r
+\r
+TASK(Task4ms)\r
+{\r
+ if(touch.isPressed()){\r
+// motorR.setPWM(0);\r
+// motorL.setPWM(0);\r
+ tracer.Stop();\r
+ tracer.Reset();\r
+ ActivateTask(TaskMain);\r
+ TerminateTask();\r
+ return;\r
+ }\r
+ context.Display(lcd);\r
+ context.CyclicExcute();\r
+ tailcontroler.Control();\r
\r
TerminateTask();\r
}\r
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