Merge branch 'master' of https://scm.sourceforge.jp/gitroot/tondenhei/et2013

[tondenhei/et2013.git] / main.cpp

diff --git a/main.cpp b/main.cpp
index f49dc61..1a02292 100644 (file)
--- a/main.cpp
+++ b/main.cpp
@@ -64,7 +64,6 @@ void ecrobot_device_terminate()
        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
@@ -89,53 +88,27 @@ TASK(TaskMain)
     tailcontroler.Init();\r
     tailcontroler.SetAngle(ETTailControl::ANGLE_STAND_UP);\r
 \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
+       // \83L\83\83\83\8a\83u\83\8c\81[\83V\83\87\83\93\r
        // \83W\83\83\83C\83\8d\r
        while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}\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
+    unsigned long offset = ETUtilityStuff::GetOffset(gyro,clock);\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
+    //display to LCD\r
+    ETUtilityStuff::DisplayCalibResult(lcd,speaker,"Offset = %d",offset,1000,1);\r
 \r
        // \94\92\r
        while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}\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
+    unsigned long white = ETUtilityStuff::GetOffset(light,clock);\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
+    //display to LCD\r
+    ETUtilityStuff::DisplayCalibResult(lcd,speaker,"White = %d",white,1200,2);\r
 \r
        // \8d\95\r
        while(!ETUtilityStuff::Istouched(touch,tailcontroler)) {}\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
+    unsigned long black = ETUtilityStuff::GetOffset(light,clock);\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
+    //display to LCD\r
+    ETUtilityStuff::DisplayCalibResult(lcd,speaker,"Black = %d",black,1400,3);\r
 \r
     //wait for touch or bluetooth.\r
     ETUtilityStuff::Waitstart(touch,tailcontroler,ETBluetoothString::CMD_START);\r