Psi Swarm Robot / PsiSwarmV8_CPP

C++ Library for the PsiSwarm Robot - Version 0.8

Dependents:   PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk

Fork of PsiSwarmV7_CPP by Psi Swarm Robot

psiswarm.cpp@13:adbd827234a4, 2016-10-17 (annotated)

Committer:
jah128
Date:
Mon Oct 17 13:19:20 2016 +0000
Revision:
13:adbd827234a4
Parent:
12:878c6e9d9e60
Child:
14:d32d948f7a76
Added Colour class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 12:878c6e9d9e60 1 /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm C++ Core Source File
jah128 6:b340a527add9 2 *
jah128 6:b340a527add9 3 * Copyright 2016 University of York
jah128 6:b340a527add9 4 *
jah128 6:b340a527add9 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 6:b340a527add9 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 1:060690a934a9 10 *
jah128 0:d6269d17c8cf 11 * File: psiswarm.cpp
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 12:878c6e9d9e60 16 * PsiSwarm Library Version: 0.8
jah128 0:d6269d17c8cf 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 *
jah128 1:060690a934a9 21 */
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 #include "psiswarm.h"
jah128 0:d6269d17c8cf 24
jah128 8:6c92789d5f87 25 //Setup class instances
jah128 8:6c92789d5f87 26 Display display; //Connects to i2c(p28,p27), reset(p29), backlight(p30)
jah128 8:6c92789d5f87 27 Motors motors;
jah128 8:6c92789d5f87 28 Eprom eprom;
jah128 9:dde9e21030eb 29 Led led;
jah128 10:e58323951c08 30 Sensors sensors;
jah128 11:312663037b8c 31 SerialControl serial;
jah128 11:312663037b8c 32 Sound sound;
jah128 11:312663037b8c 33 Setup i2c_setup;
jah128 11:312663037b8c 34 Demo demo;
jah128 12:878c6e9d9e60 35 Animations animations;
jah128 12:878c6e9d9e60 36 Basic basic;
jah128 13:adbd827234a4 37 Colour colour;
jah128 8:6c92789d5f87 38
jah128 0:d6269d17c8cf 39 //Setup MBED connections to PsiSwarm Robot
jah128 0:d6269d17c8cf 40 Serial pc(USBTX,USBRX);
jah128 0:d6269d17c8cf 41 I2C primary_i2c (p9, p10);
jah128 0:d6269d17c8cf 42 InterruptIn gpio_interrupt (p12);
jah128 0:d6269d17c8cf 43 Serial bt(p13, p14);
jah128 0:d6269d17c8cf 44 AnalogIn vin_current(p15);
jah128 0:d6269d17c8cf 45 AnalogIn vin_battery(p16);
jah128 0:d6269d17c8cf 46 AnalogIn vin_dc(p17);
jah128 0:d6269d17c8cf 47 PwmOut motor_left_f (p21);
jah128 0:d6269d17c8cf 48 PwmOut motor_left_r (p22);
jah128 0:d6269d17c8cf 49 PwmOut motor_right_f(p23);
jah128 0:d6269d17c8cf 50 PwmOut motor_right_r(p24);
jah128 0:d6269d17c8cf 51 PwmOut center_led_red(p25);
jah128 0:d6269d17c8cf 52 PwmOut center_led_green(p26);
jah128 0:d6269d17c8cf 53 DigitalOut mbed_led1(LED1);
jah128 0:d6269d17c8cf 54 DigitalOut mbed_led2(LED2);
jah128 0:d6269d17c8cf 55 DigitalOut mbed_led3(LED3);
jah128 0:d6269d17c8cf 56 DigitalOut mbed_led4(LED4);
jah128 0:d6269d17c8cf 57
jah128 0:d6269d17c8cf 58
jah128 0:d6269d17c8cf 59 float center_led_brightness;
jah128 0:d6269d17c8cf 60 float backlight_brightness;
jah128 0:d6269d17c8cf 61
jah128 0:d6269d17c8cf 62 Ticker event_handler;
jah128 0:d6269d17c8cf 63 Timer uptime;
jah128 0:d6269d17c8cf 64 Timeout pause_usercode_timeout;
jah128 0:d6269d17c8cf 65 Ticker ultrasonic_ticker;
jah128 0:d6269d17c8cf 66 Timeout ultrasonic_timeout;
jah128 0:d6269d17c8cf 67 int timer_minute_count;
jah128 0:d6269d17c8cf 68 Ticker timer_ticker;
jah128 0:d6269d17c8cf 69
jah128 0:d6269d17c8cf 70 float firmware_version;
jah128 1:060690a934a9 71 float pcb_version;
jah128 1:060690a934a9 72 float serial_number;
jah128 1:060690a934a9 73
jah128 1:060690a934a9 74 char has_compass=0;
jah128 1:060690a934a9 75 char has_side_ir=1;
jah128 1:060690a934a9 76 char has_base_ir=1;
jah128 1:060690a934a9 77 char has_base_colour_sensor=0;
jah128 1:060690a934a9 78 char has_top_colour_sensor=0;
jah128 1:060690a934a9 79 char has_wheel_encoders=0;
jah128 1:060690a934a9 80 char has_audio_pic=0;
jah128 1:060690a934a9 81 char has_ultrasonic_sensor=0;
jah128 1:060690a934a9 82 char has_temperature_sensor=0;
jah128 1:060690a934a9 83 char has_recharging_circuit=0;
jah128 1:060690a934a9 84 char has_433_radio=0;
jah128 1:060690a934a9 85
jah128 0:d6269d17c8cf 86 char robot_id;
jah128 0:d6269d17c8cf 87 char previous_robot_id;
jah128 0:d6269d17c8cf 88
jah128 0:d6269d17c8cf 89 char wheel_encoder_byte;
jah128 0:d6269d17c8cf 90 char previous_wheel_encoder_byte;
jah128 0:d6269d17c8cf 91 signed int left_encoder;
jah128 0:d6269d17c8cf 92 signed int right_encoder;
jah128 0:d6269d17c8cf 93
jah128 0:d6269d17c8cf 94 char time_based_motor_action = 0;
jah128 0:d6269d17c8cf 95
jah128 0:d6269d17c8cf 96 char testing_voltage_regulators_flag = 1;
jah128 0:d6269d17c8cf 97 char power_good_motor_left = 2;
jah128 0:d6269d17c8cf 98 char power_good_motor_right = 2;
jah128 0:d6269d17c8cf 99 char power_good_infrared = 2;
jah128 0:d6269d17c8cf 100 char status_dc_in = 2;
jah128 0:d6269d17c8cf 101 char status_charging = 2;
jah128 0:d6269d17c8cf 102
jah128 0:d6269d17c8cf 103 char switch_byte;
jah128 0:d6269d17c8cf 104 char previous_switch_byte;
jah128 0:d6269d17c8cf 105
jah128 4:1c621cb8cf0d 106
jah128 4:1c621cb8cf0d 107 char use_motor_calibration = USE_MOTOR_CALIBRATION;
jah128 4:1c621cb8cf0d 108 char motor_calibration_set;
jah128 4:1c621cb8cf0d 109 float left_motor_calibration_value = 1.0;
jah128 4:1c621cb8cf0d 110 float right_motor_calibration_value = 1.0;
jah128 4:1c621cb8cf0d 111
jah128 0:d6269d17c8cf 112 char debug_mode = DEBUG_MODE;
jah128 0:d6269d17c8cf 113 char debug_output = DEBUG_OUTPUT_STREAM;
jah128 1:060690a934a9 114
jah128 0:d6269d17c8cf 115 char firmware_bytes[21];
jah128 0:d6269d17c8cf 116
jah128 0:d6269d17c8cf 117 int base_colour_sensor_raw_values [4];
jah128 0:d6269d17c8cf 118 int top_colour_sensor_raw_values [4];
jah128 0:d6269d17c8cf 119
jah128 0:d6269d17c8cf 120 char waiting_for_ultrasonic = 0;
jah128 0:d6269d17c8cf 121 int ultrasonic_distance = 0;
jah128 0:d6269d17c8cf 122 char ultrasonic_distance_updated = 0;
jah128 0:d6269d17c8cf 123
jah128 0:d6269d17c8cf 124
jah128 0:d6269d17c8cf 125 float line_position = 0;
jah128 0:d6269d17c8cf 126 char line_found = 0;
jah128 0:d6269d17c8cf 127
jah128 0:d6269d17c8cf 128 unsigned short background_ir_values [8];
jah128 0:d6269d17c8cf 129 unsigned short illuminated_ir_values [8];
jah128 0:d6269d17c8cf 130 float reflected_ir_distances [8];
jah128 0:d6269d17c8cf 131 char ir_values_stored = 0;
jah128 0:d6269d17c8cf 132 unsigned short background_base_ir_values [5];
jah128 0:d6269d17c8cf 133 unsigned short illuminated_base_ir_values [5];
jah128 0:d6269d17c8cf 134 char base_ir_values_stored = 0;
jah128 0:d6269d17c8cf 135
jah128 0:d6269d17c8cf 136 float motor_left_speed;
jah128 0:d6269d17c8cf 137 float motor_right_speed;
jah128 0:d6269d17c8cf 138 char motor_left_brake;
jah128 0:d6269d17c8cf 139 char motor_right_brake;
jah128 0:d6269d17c8cf 140
jah128 0:d6269d17c8cf 141 char demo_on = 0;
jah128 0:d6269d17c8cf 142 char event = 0;
jah128 0:d6269d17c8cf 143 char change_id_event = 0;
jah128 0:d6269d17c8cf 144 char encoder_event = 0;
jah128 0:d6269d17c8cf 145 char switch_event = 0;
jah128 0:d6269d17c8cf 146 char user_code_running = 0;
jah128 0:d6269d17c8cf 147 char user_code_restore_mode = 0;
jah128 0:d6269d17c8cf 148 char system_warnings = 0;
jah128 0:d6269d17c8cf 149
jah128 0:d6269d17c8cf 150
jah128 0:d6269d17c8cf 151 vector<string> basic_filenames; //filenames are stored in a vector string
jah128 0:d6269d17c8cf 152 char psi_basic_file_count = 0;
jah128 0:d6269d17c8cf 153 char use_flash_basic = 0;
jah128 0:d6269d17c8cf 154 char file_transfer_mode = 0;
jah128 0:d6269d17c8cf 155
jah128 0:d6269d17c8cf 156 int ir_pulse_delay = DEFAULT_IR_PULSE_DELAY;
jah128 0:d6269d17c8cf 157 int base_ir_pulse_delay = DEFAULT_BASE_IR_PULSE_DELAY;
jah128 0:d6269d17c8cf 158
jah128 0:d6269d17c8cf 159
jah128 1:060690a934a9 160
jah128 1:060690a934a9 161
jah128 0:d6269d17c8cf 162 /**
jah128 0:d6269d17c8cf 163 * init()
jah128 0:d6269d17c8cf 164 *
jah128 0:d6269d17c8cf 165 * Main initialisation routine for the PsiSwarm robot
jah128 0:d6269d17c8cf 166 *
jah128 0:d6269d17c8cf 167 * Set up the GPIO expansion ICs, launch demo mode if button is held
jah128 0:d6269d17c8cf 168 */
jah128 12:878c6e9d9e60 169 void Psiswarm::init()
jah128 0:d6269d17c8cf 170 {
jah128 0:d6269d17c8cf 171 firmware_version=0;
jah128 0:d6269d17c8cf 172 timer_minute_count = 0;
jah128 12:878c6e9d9e60 173 timer_ticker.attach(this,&Psiswarm::IF_update_minutes, 300);
jah128 0:d6269d17c8cf 174 uptime.start();
jah128 0:d6269d17c8cf 175 primary_i2c.frequency(400000);
jah128 11:312663037b8c 176 serial.setup_serial_interfaces();
jah128 0:d6269d17c8cf 177 debug("PsiSwarm Robot Library %1.2f\n\n",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 178 debug("- Setting up serial interface\n");
jah128 0:d6269d17c8cf 179 debug("- Reading firmware: ");
jah128 8:6c92789d5f87 180 if(eprom.read_firmware() == 1) {
jah128 1:060690a934a9 181 debug("Version %3.2f\n",firmware_version);
jah128 1:060690a934a9 182 IF_get_hardware_description();
jah128 4:1c621cb8cf0d 183 if(use_motor_calibration){
jah128 4:1c621cb8cf0d 184 if(!motor_calibration_set){
jah128 4:1c621cb8cf0d 185 if(firmware_version < 1.1){
jah128 4:1c621cb8cf0d 186 debug("- WARNING: This firmware is incompatible with motor calibration");
jah128 4:1c621cb8cf0d 187 debug("- WARNING: Please update the firmware to use this feature.");
jah128 4:1c621cb8cf0d 188 use_motor_calibration = 0;
jah128 4:1c621cb8cf0d 189 }
jah128 4:1c621cb8cf0d 190 else {
jah128 4:1c621cb8cf0d 191 debug("- WARNING: Motor calibration values have not been stored in firmware");
jah128 4:1c621cb8cf0d 192 debug("- WARNING: Run calibration routine to use this feature.");
jah128 4:1c621cb8cf0d 193 use_motor_calibration = 0;
jah128 4:1c621cb8cf0d 194 }
jah128 4:1c621cb8cf0d 195 }
jah128 4:1c621cb8cf0d 196 else {
jah128 4:1c621cb8cf0d 197 debug("- Motor calibration in use [LEFT:%0.4f RIGHT:%0.4f]",left_motor_calibration_value,right_motor_calibration_value);
jah128 4:1c621cb8cf0d 198 }
jah128 4:1c621cb8cf0d 199 }
jah128 1:060690a934a9 200 } else {
jah128 1:060690a934a9 201 debug("INVALID\n");
jah128 1:060690a934a9 202 debug("- WARNING: Check firmware to enable robot features");
jah128 1:060690a934a9 203 }
jah128 1:060690a934a9 204 if(ENABLE_BASIC == 1) {
jah128 12:878c6e9d9e60 205 basic.read_list_of_file_names();
jah128 1:060690a934a9 206 if(psi_basic_file_count == 0) {
jah128 1:060690a934a9 207 debug("- No PsiBasic files found\n");
jah128 1:060690a934a9 208 } else use_flash_basic = 1;
jah128 0:d6269d17c8cf 209 }
jah128 0:d6269d17c8cf 210 debug("- Setting up PIC microcontroller\n");
jah128 0:d6269d17c8cf 211 // IF_check_pic_firmware();
jah128 0:d6269d17c8cf 212 debug("- Setting up LED drivers\n");
jah128 9:dde9e21030eb 213 led.IF_init_leds();
jah128 11:312663037b8c 214 if(i2c_setup.IF_setup_led_expansion_ic() != 0) {
jah128 1:060690a934a9 215 debug("- WARNING: No I2C acknowledge for LED driver\n");
jah128 1:060690a934a9 216 system_warnings += 1;
jah128 0:d6269d17c8cf 217 }
jah128 0:d6269d17c8cf 218 debug("- Setting up motor drivers\n");
jah128 8:6c92789d5f87 219 motors.init_motors();
jah128 0:d6269d17c8cf 220 debug("- Setting up GPIO expansion\n");
jah128 0:d6269d17c8cf 221 reset_encoders();
jah128 11:312663037b8c 222 i2c_setup.IF_setup_gpio_expansion_ic();
jah128 1:060690a934a9 223 if(has_temperature_sensor) {
jah128 1:060690a934a9 224 debug("- Setting up temperature sensor\n");
jah128 11:312663037b8c 225 i2c_setup.IF_setup_temperature_sensor();
jah128 1:060690a934a9 226 }
jah128 1:060690a934a9 227 if(has_base_colour_sensor) {
jah128 1:060690a934a9 228 debug("- Setting up base colour sensor\n");
jah128 13:adbd827234a4 229 colour.IF_check_base_colour_sensor();
jah128 1:060690a934a9 230 }
jah128 1:060690a934a9 231 if(has_ultrasonic_sensor) {
jah128 1:060690a934a9 232 debug("- Setting up ultrasonic sensor\n");
jah128 1:060690a934a9 233 //enable_ultrasonic_ticker();
jah128 1:060690a934a9 234 }
jah128 1:060690a934a9 235
jah128 0:d6269d17c8cf 236 debug("- Robot ID: %d\n",robot_id);
jah128 11:312663037b8c 237 char switchstate = i2c_setup.IF_get_switch_state();
jah128 0:d6269d17c8cf 238 debug("- Switch State : %d\n",switchstate);
jah128 10:e58323951c08 239 debug("- Battery Voltage: %1.3fV\n",sensors.get_battery_voltage());
jah128 10:e58323951c08 240 debug("- DC Voltage : %1.3fV\n",sensors.get_dc_voltage());
jah128 10:e58323951c08 241 debug("- Current Draw : %1.3fA\n",sensors.get_current());
jah128 1:060690a934a9 242 if(has_temperature_sensor){
jah128 10:e58323951c08 243 debug("- Temperature : %1.3fC\n",sensors.get_temperature());
jah128 1:060690a934a9 244 }
jah128 11:312663037b8c 245 char demo_on = 0;
jah128 11:312663037b8c 246 if(ENABLE_DEMO == 1 && switchstate > 0) demo_on=1;
jah128 11:312663037b8c 247 display.init_display(demo_on);
jah128 12:878c6e9d9e60 248 event_handler.attach_us(this,&Psiswarm::IF_handle_events, 1000);
jah128 11:312663037b8c 249 if(demo_on > 0) {
jah128 0:d6269d17c8cf 250 debug("- Demo mode button is pressed\n");
jah128 0:d6269d17c8cf 251 wait(1.0);
jah128 11:312663037b8c 252 demo_on = i2c_setup.IF_get_switch_state();
jah128 11:312663037b8c 253 if(demo_on > 0) demo.start_demo_mode();
jah128 1:060690a934a9 254 display.init_display(0);
jah128 0:d6269d17c8cf 255 }
jah128 0:d6269d17c8cf 256 }
jah128 0:d6269d17c8cf 257
jah128 12:878c6e9d9e60 258 void Psiswarm::IF_update_minutes()
jah128 1:060690a934a9 259 {
jah128 0:d6269d17c8cf 260 uptime.reset();
jah128 0:d6269d17c8cf 261 timer_minute_count += 5;
jah128 0:d6269d17c8cf 262 }
jah128 0:d6269d17c8cf 263
jah128 12:878c6e9d9e60 264 void Psiswarm::IF_handle_events()
jah128 0:d6269d17c8cf 265 {
jah128 0:d6269d17c8cf 266 // This is the main 'operating system' thread that handles events from robot stimuli
jah128 0:d6269d17c8cf 267 // By default it is run every 1ms and checks if there are events to handle
jah128 1:060690a934a9 268 if(event > 0) {
jah128 0:d6269d17c8cf 269 // There are some events to handle. We don't handle all events in every loop to keep the system responsive, instead they are priorised.
jah128 1:060690a934a9 270 if(encoder_event == 1) {
jah128 0:d6269d17c8cf 271 // The encoders have changed; update the encoder values
jah128 0:d6269d17c8cf 272 IF_update_encoders();
jah128 1:060690a934a9 273 encoder_event = 0;
jah128 1:060690a934a9 274 event--;
jah128 0:d6269d17c8cf 275 } else {
jah128 1:060690a934a9 276 if(switch_event == 1) {
jah128 1:060690a934a9 277 IF_update_switch();
jah128 1:060690a934a9 278 switch_event = 0;
jah128 1:060690a934a9 279 event--;
jah128 0:d6269d17c8cf 280 }
jah128 1:060690a934a9 281 if(change_id_event == 1) {
jah128 0:d6269d17c8cf 282 // The user ID for the robot has been changed
jah128 0:d6269d17c8cf 283 IF_update_user_id();
jah128 0:d6269d17c8cf 284 change_id_event = 0;
jah128 0:d6269d17c8cf 285 event--;
jah128 0:d6269d17c8cf 286 }
jah128 0:d6269d17c8cf 287 }
jah128 1:060690a934a9 288 }
jah128 0:d6269d17c8cf 289 }
jah128 0:d6269d17c8cf 290
jah128 12:878c6e9d9e60 291 void Psiswarm::IF_update_encoders()
jah128 0:d6269d17c8cf 292 {
jah128 0:d6269d17c8cf 293 char rwep = previous_wheel_encoder_byte >> 2;
jah128 0:d6269d17c8cf 294 char rwe = wheel_encoder_byte >> 2;
jah128 0:d6269d17c8cf 295 char lwep = previous_wheel_encoder_byte % 4;
jah128 0:d6269d17c8cf 296 char lwe = wheel_encoder_byte % 4;
jah128 0:d6269d17c8cf 297 //pc.printf("L:%d P:%d R:%d P:%d \n",lwe,lwep,rwe,rwep);
jah128 0:d6269d17c8cf 298 if(lwe == 0 && lwep==1) left_encoder++;
jah128 0:d6269d17c8cf 299 if(lwe == 0 && lwep==2) left_encoder--;
jah128 0:d6269d17c8cf 300 if(rwe == 0 && rwep==1) right_encoder++;
jah128 0:d6269d17c8cf 301 if(rwe == 0 && rwep==2) right_encoder--;
jah128 0:d6269d17c8cf 302 if(left_encoder % 100 == 0) pc.printf("L:%d\n",left_encoder);
jah128 0:d6269d17c8cf 303 }
jah128 0:d6269d17c8cf 304
jah128 12:878c6e9d9e60 305 void Psiswarm::IF_update_user_id()
jah128 0:d6269d17c8cf 306 {
jah128 0:d6269d17c8cf 307 }
jah128 0:d6269d17c8cf 308
jah128 12:878c6e9d9e60 309 void Psiswarm::IF_update_switch()
jah128 0:d6269d17c8cf 310 {
jah128 0:d6269d17c8cf 311 // The user switch has changed state
jah128 0:d6269d17c8cf 312 // In this implementation we will only act on positive changes (rising edges)
jah128 0:d6269d17c8cf 313 // Subtracting new_state from (new_state & old_state) gives the positive changes
jah128 0:d6269d17c8cf 314 char positive_change = switch_byte - (switch_byte & previous_switch_byte);
jah128 11:312663037b8c 315 if(demo_on) demo.demo_handle_switch_event(positive_change);
jah128 0:d6269d17c8cf 316 else handle_switch_event(positive_change);
jah128 0:d6269d17c8cf 317 }
jah128 0:d6269d17c8cf 318
jah128 12:878c6e9d9e60 319 void Psiswarm::reset_encoders()
jah128 0:d6269d17c8cf 320 {
jah128 0:d6269d17c8cf 321 left_encoder = 0;
jah128 1:060690a934a9 322 right_encoder = 0;
jah128 0:d6269d17c8cf 323 }
jah128 0:d6269d17c8cf 324
jah128 12:878c6e9d9e60 325 void Psiswarm::debug(const char* format, ...)
jah128 0:d6269d17c8cf 326 {
jah128 1:060690a934a9 327 char buffer[256];
jah128 1:060690a934a9 328 if (debug_mode) {
jah128 1:060690a934a9 329 va_list vl;
jah128 1:060690a934a9 330 va_start(vl, format);
jah128 1:060690a934a9 331 vsprintf(buffer,format,vl);
jah128 1:060690a934a9 332 if(debug_output & 2) bt.printf("%s", buffer);
jah128 1:060690a934a9 333 if(debug_output & 1) pc.printf("%s", buffer);
jah128 1:060690a934a9 334 if(debug_output & 4) display.debug_page(buffer,strlen(buffer));
jah128 1:060690a934a9 335 va_end(vl);
jah128 1:060690a934a9 336 }
jah128 0:d6269d17c8cf 337 }
jah128 0:d6269d17c8cf 338
jah128 12:878c6e9d9e60 339 float Psiswarm::get_uptime(void)
jah128 0:d6269d17c8cf 340 {
jah128 1:060690a934a9 341 return uptime.read() + (timer_minute_count * 60);
jah128 0:d6269d17c8cf 342 }
jah128 0:d6269d17c8cf 343
jah128 12:878c6e9d9e60 344 void Psiswarm::pause_user_code(float period)
jah128 1:060690a934a9 345 {
jah128 0:d6269d17c8cf 346 user_code_restore_mode = user_code_running;
jah128 0:d6269d17c8cf 347 user_code_running = 0;
jah128 12:878c6e9d9e60 348 pause_usercode_timeout.attach(this,&Psiswarm::IF_end_pause_user_code, period);
jah128 0:d6269d17c8cf 349 }
jah128 0:d6269d17c8cf 350
jah128 12:878c6e9d9e60 351 void Psiswarm::IF_end_pause_user_code()
jah128 1:060690a934a9 352 {
jah128 1:060690a934a9 353 user_code_running = user_code_restore_mode;
jah128 1:060690a934a9 354 }
jah128 1:060690a934a9 355
jah128 12:878c6e9d9e60 356 void Psiswarm::IF_get_hardware_description()
jah128 1:060690a934a9 357 {
jah128 1:060690a934a9 358 debug("- Robot serial number %1.2f\n",serial_number);
jah128 1:060690a934a9 359 debug("- PCB version %1.2f\n",pcb_version);
jah128 1:060690a934a9 360 debug("- Hardware: ");
jah128 1:060690a934a9 361 if(has_compass) debug("COMPASS, ");
jah128 1:060690a934a9 362 if(has_side_ir) debug("SIDE IR, ");
jah128 1:060690a934a9 363 if(has_base_ir) debug("BASE IR, ");
jah128 1:060690a934a9 364 if(has_base_colour_sensor) debug("BASE COLOUR, ");
jah128 1:060690a934a9 365 if(has_top_colour_sensor) debug("TOP COLOUR, ");
jah128 1:060690a934a9 366 if(has_wheel_encoders) debug("WHEEL ENC., ");
jah128 1:060690a934a9 367 if(has_audio_pic) debug("AUDIO, ");
jah128 1:060690a934a9 368 if(has_ultrasonic_sensor) debug("ULTRASONIC, ");
jah128 1:060690a934a9 369 if(has_temperature_sensor) debug("TEMPERATURE, ");
jah128 1:060690a934a9 370 if(has_recharging_circuit) debug("RECHARGING, ");
jah128 1:060690a934a9 371 if(has_433_radio) debug("433 RADIO.");
jah128 1:060690a934a9 372 debug("\n");
jah128 0:d6269d17c8cf 373 }