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 "Clock.h"\r
   7 #include "GyroSensor.h"\r
   8 #include "LightSensor.h"\r
   9 #include "Motor.h"\r
  10 #include "Nxt.h"\r
  11 #include "SonarSensor.h"\r
  12 #include "Speaker.h"\r
  13 #include "TouchSensor.h"\r
  14 \r
  15 #include "tsprintf.h"\r
  16 #include "ETLineTracer.h"\r
  17 #include "ETLinePos.h"\r
  18 #include "ETBalanceRunner.h"\r
  19 #include "ETTailControl.h"\r
  20 #include "context.h"\r
  21 \r
  22 using namespace ecrobot;\r
  23 \r
  24 extern "C"\r
  25 {\r
  26 #include "kernel.h"\r
  27 #include "kernel_id.h"\r
  28 #include "ecrobot_interface.h"\r
  29 \r
  30 DeclareCounter(SysTimerCnt);//Alarm\97\98\97p\8e\9e\95K\97v\r
  31 \r
  32 // global object instances\r
  33 Nxt nxt;\r
  34 Lcd lcd;\r
  35 Speaker speaker;\r
  36 Bluetooth bt;\r
  37 Clock clock;\r
  38 GyroSensor gyro(PORT_1);\r
  39 SonarSensor sonar(PORT_2);\r
  40 LightSensor light(PORT_3);\r
  41 TouchSensor touch(PORT_4);\r
  42 Motor motorT(PORT_A);\r
  43 Motor motorR(PORT_B);\r
  44 Motor motorL(PORT_C);\r
  45 \r
  46 ETBalanceRunner runner(motorL,motorR,gyro,nxt);\r
  47 ETLinePos linepos(light);\r
  48 ETLineTracer tracer(linepos,runner);\r
  49 ETTailControl tailcontroler(motorT,0);\r
  50 ContextStuff::Context context;\r
  51  \r
  52 // nxtOSEK hook to be invoked from an ISR in category 2\r
  53 void user_1ms_isr_type2(void)\r
  54 {\r
  55     //  //Sleep\97\98\97p\8e\9e\95K\97v\r
  56     SleeperMonitor();\r
  57     //  //Alarm\97\98\97p\8e\9e\95K\97v\r
  58     StatusType ercd;\r
  59     ercd = SignalCounter(SysTimerCnt);\r
  60     if (ercd != E_OK) {\r
  61         ShutdownOS(ercd);\r
  62     }\r
  63 }\r
  64 \r
  65 TASK(TaskMain)\r
  66 {\r
  67         lcd.clear();\r
  68         lcd.putf("s", "Hello World");\r
  69         lcd.disp();\r
  70     tailcontroler.Init();\r
  71     tailcontroler.SetAngle(ETTailControl::ANGLE_STAND_UP);\r
  72 \r
  73 \r
  74         // TODO:\82Æ\82è\82 \82¦\82¸\82Ì\83L\83\83\83\8a\83u\83\8c\81[\83V\83\87\83\93\r
  75         static const int sum_num = 256;\r
  76         unsigned long sum = 0;\r
  77         char str[16+1];\r
  78         // \83W\83\83\83C\83\8d\r
  79         while(!touch.isPressed()){\r
  80         tailcontroler.Control();\r
  81         }\r
  82         while(touch.isPressed()){\r
  83         }\r
  84         for(int i=0;i<sum_num;i++){\r
  85                 sum += gyro.get();\r
  86                 clock.wait(10);\r
  87         }\r
  88         unsigned long offset = sum / sum_num;\r
  89         runner.SetGyroOffset(offset);\r
  90         tsprintf(str,"Offset = %d",offset);\r
  91         lcd.cursor(0,1);\r
  92         lcd.putf("s",str);\r
  93         lcd.disp();\r
  94         speaker.playTone(1000,100,50);\r
  95 \r
  96         // \94\92\r
  97         while(!touch.isPressed()){\r
  98         tailcontroler.Control();\r
  99         }\r
 100         while(touch.isPressed()){\r
 101         }\r
 102         sum = 0;\r
 103         for(int i=0;i<sum_num;i++){\r
 104                 sum += light.getBrightness();\r
 105                 clock.wait(10);\r
 106         }\r
 107         unsigned long white = sum / sum_num;\r
 108         linepos.SetWhite(white);\r
 109         tsprintf(str,"White = %d",white);\r
 110         lcd.cursor(0,2);\r
 111         lcd.putf("s",str);\r
 112         lcd.disp();\r
 113         speaker.playTone(1200,100,50);\r
 114 \r
 115         // \8d\95\r
 116         while(!touch.isPressed()){\r
 117         tailcontroler.Control();\r
 118         }\r
 119         while(touch.isPressed()){\r
 120         }\r
 121         sum = 0;\r
 122         for(int i=0;i<sum_num;i++){\r
 123                 sum += light.getBrightness();\r
 124                 clock.wait(10);\r
 125         }\r
 126         unsigned long black = sum / sum_num;\r
 127         linepos.SetBlack(black);\r
 128         tsprintf(str,"Black = %d",black);\r
 129         lcd.cursor(0,3);\r
 130         lcd.putf("s",str);\r
 131         lcd.disp();\r
 132         speaker.playTone(1400,100,50);\r
 133 \r
 134         while(!touch.isPressed()){\r
 135         tailcontroler.Control();\r
 136         }\r
 137         while(touch.isPressed()){\r
 138         }\r
 139         tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);\r
 140     context.SetETLineTracer(&tracer);\r
 141         TerminateTask();\r
 142 }\r
 143 \r
 144 TASK(Task4ms)\r
 145 {\r
 146 //      if(touch.isPressed()){\r
 147 //              ActivateTask(TaskMain);\r
 148 //              TerminateTask();\r
 149 //      }\r
 150     context.Display(lcd);\r
 151     context.CyclicExcute();\r
 152     tailcontroler.Control();\r
 153 \r
 154         TerminateTask();\r
 155 }\r
 156 \r
 157 int __cxa_pure_virtual(){\r
 158         // \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
 159         // \82±\82ê\82ð\93ü\82ê\82È\82¢\82Æram\8eg\97p\97Ê\82ª\82Æ\82Ä\82à\91\9d\82¦\82é\81E\81E\81E\r
 160         return 0;\r
 161 }\r
 162 \r
 163 }       // extern "C"\r