Psi Swarm Robot
Psi Swarm robot library version 0.9
Fork of
PsiSwarmV9
by 
James Hilder
Diff: demo.cpp
- Revision:
- 17:bf614e28668f
- Parent:
- 16:50686c07ad07
- Child:
- 18:9204f74069b4
--- a/demo.cpp Thu Jun 01 23:02:32 2017 +0000
+++ b/demo.cpp Sun Jun 04 13:11:09 2017 +0000
@@ -82,7 +82,8 @@
void Demo::start_demo_mode()
{
psi.debug("- Starting Demo Mode\n");
- if(use_flash_basic == 1) top_menu = 7;
+ if(use_flash_basic == 1) top_menu = 8;
+ if((has_base_ir == 1 && base_ir_calibration_set != 1) || (has_base_colour_sensor == 1 && base_colour_calibration_set != 1)) top_menu = 7;
demo_on = 1;
display.set_backlight_brightness(bl_brightness * 0.01f);
display.clear_display();
@@ -154,7 +155,7 @@
case 8: // PsiBasic Menu
if(sub_menu == psi_basic_file_count) level = 0;
break;
- case 7: //LED Menu
+ case 1: //LED Menu
if(sub_menu < 9) {
if(led_state[sub_menu] == 0) led_state[sub_menu] = 3;
else led_state[sub_menu]--;
@@ -202,15 +203,15 @@
if(sub_menu == 13) level = 0;
break;
case 2: // Sensors Menu
- if(sub_menu == 4 || sub_menu == 5) {
+ if(sub_menu == 4 || sub_menu == 5 || sub_menu==6) {
if(base_ir_index == 0) base_ir_index = 4;
else base_ir_index --;
}
- if(sub_menu > 5 && sub_menu < 9) {
+ if(sub_menu > 6 && sub_menu < 10) {
if(side_ir_index == 0) side_ir_index = 7;
else side_ir_index --;
}
- if(sub_menu == 12) level = 0;
+ if(sub_menu == 13) level = 0;
break;
case 3: // Motor Menu
if(sub_menu == 0) {
@@ -257,6 +258,10 @@
case 5: // Info Menu
if(sub_menu == 6) level = 0;
break;
+ case 7: // Calibration Menu
+ if(sub_menu == 0) sensors.calibrate_base_sensors();
+ if(sub_menu == 2) level = 0;
+ break;
case 6: // Demo Menu
if(sub_menu == 0) {
if(demo_running == 0) {
@@ -379,15 +384,15 @@
break;
case 2: // Sensors Menu
- if(sub_menu == 4 || sub_menu == 5) {
+ if(sub_menu == 4 || sub_menu == 5 || sub_menu == 6) {
if(base_ir_index == 4) base_ir_index = 0;
else base_ir_index ++;
}
- if(sub_menu > 5 && sub_menu < 9) {
+ if(sub_menu > 6 && sub_menu < 10) {
if(side_ir_index == 7) side_ir_index = 0;
else side_ir_index ++;
}
- if(sub_menu == 12) level = 0;
+ if(sub_menu == 13) level = 0;
break;
case 3: // Motor Menu
if(sub_menu == 0) {
@@ -434,6 +439,10 @@
case 5: // Info Menu
if(sub_menu == 6) level = 0;
break;
+ case 7: // Calibration Menu
+ if(sub_menu == 0) sensors.calibrate_base_sensors();
+ if(sub_menu == 2) level = 0;
+ break;
case 6: // Demo Menu
if(sub_menu == 0) {
if(demo_running == 0) {
@@ -493,8 +502,8 @@
if(top_menu == 0) {
top_menu = 9;
} else {
+ top_menu --;
if(use_flash_basic == 0 && top_menu == 8) top_menu = 7;
- top_menu --;
}
break;
case 1:
@@ -504,7 +513,7 @@
else sub_menu --;
break;
case 2: //Sensors Menu
- if(sub_menu == 0) sub_menu = 12;
+ if(sub_menu == 0) sub_menu = 13;
else sub_menu --;
break;
@@ -536,7 +545,8 @@
switch(level) {
case 0:
top_menu ++;
- if((top_menu - use_flash_basic) > 7) top_menu = 0;
+ if(top_menu == 8 && use_flash_basic == 0) top_menu = 9;
+ if((top_menu) > 9) top_menu = 0;
break;
case 1:
switch(top_menu) {
@@ -545,7 +555,7 @@
else sub_menu ++;
break;
case 2: //Sensors Menu
- if(sub_menu == 12) sub_menu = 0;
+ if(sub_menu == 13) sub_menu = 0;
else sub_menu ++;
break;
case 3: //Motor Menu
@@ -600,7 +610,7 @@
strcpy(topline,"---CODE DEMOS---");
break;
case 7:
- strcpy(topline,"-MOTOR CALIBRATE");
+ strcpy(topline,"---CALIBRATION--");
break;
case 8:
strcpy(topline,"---PSI BASIC----");
@@ -699,31 +709,36 @@
sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,sensors.get_illuminated_base_ir_value(base_ir_index));
break;
case 6:
+ sensors.store_illuminated_base_ir_values();
+ sprintf(bottomline,"BIC%dR:%1.3f",base_ir_index+1,sensors.get_calibrated_base_ir_value(base_ir_index));
+ break;
+ case 7:
sensors.store_background_raw_ir_values();
sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,sensors.get_background_raw_ir_value(side_ir_index));
break;
- case 7:
+ case 8:
sensors.store_illuminated_raw_ir_values();
sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,sensors.get_illuminated_raw_ir_value(side_ir_index));
break;
- case 8:
+ case 9:
sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0);
break;
- case 9:
+ case 10:
if(ultrasonic_distance_updated == 1) {
sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance);
} else sprintf(bottomline,"USONIC:---------");
sensors.update_ultrasonic_measure();
break;
- case 10:
+ case 11:
sensors.store_line_position();
if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position);
else sprintf(bottomline,"LINE:---------");
break;
- case 11:
+
+ case 12:
sprintf(bottomline,"COLOUR: %s",colour.get_colour_string(colour.detect_colour_once()));
break;
- case 12:
+ case 13:
sprintf(bottomline,"EXIT");
break;
}
@@ -826,13 +841,13 @@
}
break;
case 7:
- strcpy(topline,"-MOTOR CALIBRATE");
+ strcpy(topline,"---CALIB. MENU--");
switch(sub_menu) {
case 0:
- sprintf(bottomline,"RUN A3 TEST");
+ sprintf(bottomline,"BASE SENSOR");
break;
case 1:
- sprintf(bottomline,"ENTER VALUE");
+ sprintf(bottomline,"MOTOR");
break;
case 2:
sprintf(bottomline,"EXIT");