X-Git-Url: http://git.osdn.net/view?a=blobdiff_plain;f=main.cpp;h=1a022922d3dd0dbde2146f29a4cdda067aa5f52e;hb=32836551d305a5bc17f549218fbd6a8cdd86af24;hp=a13d1829fc26da8116349bb0c57cdfd0519ac89e;hpb=88460d9e510daaacd7435c4ac223612d53494443;p=tondenhei%2Fet2013.git

diff --git a/main.cpp b/main.cpp
index a13d182..1a02292 100644
--- a/main.cpp
+++ b/main.cpp
@@ -2,7 +2,8 @@
 
 // ECRobot++ API
 #include "Lcd.h"
-#include "BlueTooth.h"
+#include "Bluetooth.h"
+#include "BTConnection.h"
 #include "Clock.h"
 #include "GyroSensor.h"
 #include "LightSensor.h"
@@ -16,6 +17,9 @@
 #include "ETLineTracer.h"
 #include "ETLinePos.h"
 #include "ETBalanceRunner.h"
+#include "ETTailControl.h"
+#include "context.h"
+#include "ETUtility.h"
 
 using namespace ecrobot;
 
@@ -25,6 +29,7 @@ extern "C"
 #include "kernel_id.h"
 #include "ecrobot_interface.h"
 
+DeclareTask(TaskMain);
 DeclareCounter(SysTimerCnt);//Alarm—˜—pŽž•K—v
 
 // global object instances
@@ -44,6 +49,20 @@ Motor motorL(PORT_C);
 ETBalanceRunner runner(motorL,motorR,gyro,nxt);
 ETLinePos linepos(light);
 ETLineTracer tracer(linepos,runner);
+ETTailControl tailcontroler(motorT,0);
+ContextStuff::Context context;
+
+/* ƒfƒoƒCƒXI—¹—pƒtƒbƒNŠÖ” */
+/* ‚±‚̊֐”‚ÍSTOP‚Ü‚½‚ÍEXITƒ{ƒ^ƒ“‚ª‰Ÿ‚³‚ꂽŽž‚ÉŽÀs‚³‚ê‚Ü‚·B */
+void ecrobot_device_terminate()
+{
+	/* ƒZƒ“ƒTAƒ‚[ƒ^‚È‚Ç‚ÌŠeƒfƒoƒCƒX‚̏I—¹ŠÖ”‚ð
+	 * ‚±‚±‚ÅŽÀ‘•‚·‚邱‚Æ‚ª‚Å‚«‚Ü‚·B
+	 * Ë@ŒõƒZƒ“ƒTÔFLED‚ðOFF‚É‚·‚é
+	 */
+	//ecrobot_set_light_sensor_inactive(SENSOR_LIGHT);
+	ecrobot_term_bt_connection(); /* Bluetooth’ʐM‚ðI—¹ */							//ex4
+}
 
 // nxtOSEK hook to be invoked from an ISR in category 2
 void user_1ms_isr_type2(void)
@@ -60,23 +79,59 @@ void user_1ms_isr_type2(void)
 
 TASK(TaskMain)
 {
+    //bt.setFriendlyName(DEVICE_NAME);
+	BTConnection btConnection(bt, lcd, nxt);
+	btConnection.connect(ETBluetoothString::PASS_KEY);
 	lcd.clear();
 	lcd.putf("s", "Hello World");
 	lcd.disp();
+    tailcontroler.Init();
+    tailcontroler.SetAngle(ETTailControl::ANGLE_STAND_UP);
+
+	// ƒLƒƒƒŠƒuƒŒ[ƒVƒ‡ƒ“
+	// ƒWƒƒƒCƒ
+	while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}
+    unsigned long offset = ETUtilityStuff::GetOffset(gyro,clock);
+	runner.SetGyroOffset(offset);
+    //display to LCD
+    ETUtilityStuff::DisplayCalibResult(lcd,speaker,"Offset = %d",offset,1000,1);
+
+	// ”’
+	while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}
+    unsigned long white = ETUtilityStuff::GetOffset(light,clock);
+	linepos.SetWhite(white);
+    //display to LCD
+    ETUtilityStuff::DisplayCalibResult(lcd,speaker,"White = %d",white,1200,2);
 
+	// •
+	while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}
+    unsigned long black = ETUtilityStuff::GetOffset(light,clock);
+	linepos.SetBlack(black);
+    //display to LCD
+    ETUtilityStuff::DisplayCalibResult(lcd,speaker,"Black = %d",black,1400,3);
+
+    //wait for touch or bluetooth.
+    ETUtilityStuff::Waitstart(touch,tailcontroler,ETBluetoothString::CMD_START);
+
+	tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);
+    context.SetETLineTracer(&tracer);
 	TerminateTask();
 }
 
 TASK(Task4ms)
 {
-	static int cnt = 0;
-	char str[16+1];
-	lcd.clear();
-	tsprintf(str,"cnt = %d",cnt++);	// tsprintf Žg—p—á
-	lcd.putf("s",str);
-	lcd.disp();
-
-	tracer.RunTrace(100);
+	if(touch.isPressed()){
+//		motorR.setPWM(0);
+//		motorL.setPWM(0);
+		tracer.Stop();
+		tracer.Reset();
+		ActivateTask(TaskMain);
+		TerminateTask();
+		return;
+	}
+    context.Display(lcd);
+    context.CyclicExcute();
+    tailcontroler.Control();
 
 	TerminateTask();
 }