main.cpp

   1 /* main.cpp for TOPPERS/ATK(OSEK) */ \r
   2 \r
   3 // ECRobot++ API\r
   4 #include "Lcd.h"\r
   5 #include "Bluetooth.h"\r
   6 #include "BTConnection.h"\r
   7 #include "Clock.h"\r
   8 #include "GyroSensor.h"\r
   9 #include "LightSensor.h"\r
  10 #include "Motor.h"\r
  11 #include "Nxt.h"\r
  12 #include "SonarSensor.h"\r
  13 #include "Speaker.h"\r
  14 #include "TouchSensor.h"\r
  15 \r
  16 #include "tsprintf.h"\r
  17 #include "ETLineTracer.h"\r
  18 #include "ETLinePos.h"\r
  19 #include "ETBalanceRunner.h"\r
  20 #include "ETTailControl.h"\r
  21 #include "context.h"\r
  22 #include "ETUtility.h"\r
  23 \r
  24 using namespace ecrobot;\r
  25 \r
  26 extern "C"\r
  27 {\r
  28 #include "kernel.h"\r
  29 #include "kernel_id.h"\r
  30 #include "ecrobot_interface.h"\r
  31 \r
  32 DeclareTask(TaskMain);\r
  33 DeclareCounter(SysTimerCnt);//Alarm\97\98\97p\8e\9e\95K\97v\r
  34 \r
  35 // global object instances\r
  36 Nxt nxt;\r
  37 Lcd lcd;\r
  38 Speaker speaker;\r
  39 Bluetooth bt;\r
  40 Clock clock;\r
  41 GyroSensor gyro(PORT_1);\r
  42 SonarSensor sonar(PORT_2);\r
  43 LightSensor light(PORT_3);\r
  44 TouchSensor touch(PORT_4);\r
  45 Motor motorT(PORT_A);\r
  46 Motor motorR(PORT_B);\r
  47 Motor motorL(PORT_C);\r
  48 \r
  49 ETBalanceRunner runner(motorL,motorR,gyro,nxt);\r
  50 ETLinePos linepos(light);\r
  51 ETLineTracer tracer(linepos,runner);\r
  52 ETTailControl tailcontroler(motorT,0);\r
  53 ContextStuff::Context context;\r
  54 \r
  55 /* \83f\83o\83C\83X\8fI\97¹\97p\83t\83b\83N\8aÖ\90\94 */\r
  56 /* \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
  57 void ecrobot_device_terminate()\r
  58 {\r
  59         /* \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
  60          * \82±\82±\82Å\8eÀ\91\95\82·\82é\82±\82Æ\82ª\82Å\82«\82Ü\82·\81B\r
  61          * \81Ë\81@\8cõ\83Z\83\93\83T\90Ô\90FLED\82ðOFF\82É\82·\82é\r
  62          */\r
  63         //ecrobot_set_light_sensor_inactive(SENSOR_LIGHT);\r
  64         ecrobot_term_bt_connection(); /* Bluetooth\92Ê\90M\82ð\8fI\97¹ */                                                 //ex4\r
  65 }\r
  66 \r
  67 // nxtOSEK hook to be invoked from an ISR in category 2\r
  68 void user_1ms_isr_type2(void)\r
  69 {\r
  70     //  //Sleep\97\98\97p\8e\9e\95K\97v\r
  71     SleeperMonitor();\r
  72     //  //Alarm\97\98\97p\8e\9e\95K\97v\r
  73     StatusType ercd;\r
  74     ercd = SignalCounter(SysTimerCnt);\r
  75     if (ercd != E_OK) {\r
  76         ShutdownOS(ercd);\r
  77     }\r
  78 }\r
  79 \r
  80 TASK(TaskMain)\r
  81 {\r
  82     //bt.setFriendlyName(DEVICE_NAME);\r
  83         BTConnection btConnection(bt, lcd, nxt);\r
  84         btConnection.connect(ETBluetoothString::PASS_KEY);\r
  85         lcd.clear();\r
  86         lcd.putf("s", "Hello World");\r
  87         lcd.disp();\r
  88     tailcontroler.Init();\r
  89     tailcontroler.SetAngle(ETTailControl::ANGLE_STAND_UP);\r
  90 \r
  91         // \83L\83\83\83\8a\83u\83\8c\81[\83V\83\87\83\93\r
  92         // \83W\83\83\83C\83\8d\r
  93         while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}\r
  94     unsigned long offset = ETUtilityStuff::GetOffset(gyro,clock);\r
  95         runner.SetGyroOffset(offset);\r
  96     //display to LCD\r
  97     ETUtilityStuff::DisplayCalibResult(lcd,speaker,"Offset = %d",offset,1000,1);\r
  98 \r
  99         // \94\92\r
 100         while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}\r
 101     unsigned long white = ETUtilityStuff::GetOffset(light,clock);\r
 102         linepos.SetWhite(white);\r
 103     //display to LCD\r
 104     ETUtilityStuff::DisplayCalibResult(lcd,speaker,"White = %d",white,1200,2);\r
 105 \r
 106         // \8d\95\r
 107         while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}\r
 108     unsigned long black = ETUtilityStuff::GetOffset(light,clock);\r
 109         linepos.SetBlack(black);\r
 110     //display to LCD\r
 111     ETUtilityStuff::DisplayCalibResult(lcd,speaker,"Black = %d",black,1400,3);\r
 112 \r
 113     //wait for touch or bluetooth.\r
 114     ETUtilityStuff::Waitstart(touch,tailcontroler,ETBluetoothString::CMD_START);\r
 115 \r
 116         tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);\r
 117     context.SetETLineTracer(&tracer);\r
 118         TerminateTask();\r
 119 }\r
 120 \r
 121 TASK(Task4ms)\r
 122 {\r
 123         if(touch.isPressed()){\r
 124 //              motorR.setPWM(0);\r
 125 //              motorL.setPWM(0);\r
 126                 tracer.Stop();\r
 127                 tracer.Reset();\r
 128                 ActivateTask(TaskMain);\r
 129                 TerminateTask();\r
 130                 return;\r
 131         }\r
 132     context.Display(lcd);\r
 133     context.CyclicExcute();\r
 134     tailcontroler.Control();\r
 135 \r
 136         TerminateTask();\r
 137 }\r
 138 \r
 139 int __cxa_pure_virtual(){\r
 140         // \8f\83\90\88\89¼\91z\8aÖ\90\94\82ª\83I\81[\83o\81[\83\89\83C\83h\82µ\82È\82¢\82Å\8cÄ\82Ñ\8fo\82³\82ê\82½\8e\9e\82Ì\83G\83\89\81[\83n\83\93\83h\83\89\82ð\8bó\8eÀ\91\95\r
 141         // \82±\82ê\82ð\93ü\82ê\82È\82¢\82Æram\8eg\97p\97Ê\82ª\82Æ\82Ä\82à\91\9d\82¦\82é\81E\81E\81E\r
 142         return 0;\r
 143 }\r
 144 \r
 145 }       // extern "C"\r