Andrew Oyaide / StudentBuggyProject

Starting point for the student buggy project

Dependencies:   microbit

Fork of microbit-hello-world by micro:bit

main.cpp@2:47b7a55b0805, 2017-07-31 (annotated)

Committer:
OyaideA
Date:
Mon Jul 31 21:48:36 2017 +0000
Revision:
2:47b7a55b0805
Parent:
1:8c05eb53f714
Child:
3:c3a42966b47c
Project includes self test and code for ultrasonic characterisation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LancasterUniversity 0:0041f35b0c4c 1 /*
LancasterUniversity 0:0041f35b0c4c 2 The MIT License (MIT)
LancasterUniversity 0:0041f35b0c4c 3
LancasterUniversity 0:0041f35b0c4c 4 Copyright (c) 2016 British Broadcasting Corporation.
LancasterUniversity 0:0041f35b0c4c 5 This software is provided by Lancaster University by arrangement with the BBC.
LancasterUniversity 0:0041f35b0c4c 6
LancasterUniversity 0:0041f35b0c4c 7 Permission is hereby granted, free of charge, to any person obtaining a
LancasterUniversity 0:0041f35b0c4c 8 copy of this software and associated documentation files (the "Software"),
LancasterUniversity 0:0041f35b0c4c 9 to deal in the Software without restriction, including without limitation
LancasterUniversity 0:0041f35b0c4c 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
LancasterUniversity 0:0041f35b0c4c 11 and/or sell copies of the Software, and to permit persons to whom the
LancasterUniversity 0:0041f35b0c4c 12 Software is furnished to do so, subject to the following conditions:
LancasterUniversity 0:0041f35b0c4c 13
LancasterUniversity 0:0041f35b0c4c 14 The above copyright notice and this permission notice shall be included in
LancasterUniversity 0:0041f35b0c4c 15 all copies or substantial portions of the Software.
LancasterUniversity 0:0041f35b0c4c 16
LancasterUniversity 0:0041f35b0c4c 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
LancasterUniversity 0:0041f35b0c4c 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
LancasterUniversity 0:0041f35b0c4c 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
LancasterUniversity 0:0041f35b0c4c 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LancasterUniversity 0:0041f35b0c4c 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
LancasterUniversity 0:0041f35b0c4c 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
LancasterUniversity 0:0041f35b0c4c 23 DEALINGS IN THE SOFTWARE.
LancasterUniversity 0:0041f35b0c4c 24 */
LancasterUniversity 0:0041f35b0c4c 25
OyaideA 2:47b7a55b0805 26 #include "Buggy.h"
LancasterUniversity 0:0041f35b0c4c 27
OyaideA 1:8c05eb53f714 28
OyaideA 1:8c05eb53f714 29 void onButtonA(MicroBitEvent);
OyaideA 1:8c05eb53f714 30 int main();
OyaideA 2:47b7a55b0805 31 void SelfTest();
OyaideA 2:47b7a55b0805 32 void DisplaySonarTiming();
LancasterUniversity 0:0041f35b0c4c 33
OyaideA 1:8c05eb53f714 34 MicroBitButton buttonA(MICROBIT_PIN_BUTTON_A, MICROBIT_ID_BUTTON_A);
OyaideA 1:8c05eb53f714 35 MicroBitButton buttonB(MICROBIT_PIN_BUTTON_B, MICROBIT_ID_BUTTON_B);
OyaideA 1:8c05eb53f714 36
OyaideA 1:8c05eb53f714 37
OyaideA 1:8c05eb53f714 38 void onButtonA(MicroBitEvent evt)
OyaideA 1:8c05eb53f714 39 {
OyaideA 1:8c05eb53f714 40 if(evt.value == MICROBIT_BUTTON_EVT_CLICK)
OyaideA 1:8c05eb53f714 41 {
OyaideA 2:47b7a55b0805 42
OyaideA 1:8c05eb53f714 43 }
OyaideA 1:8c05eb53f714 44 }
OyaideA 1:8c05eb53f714 45
OyaideA 1:8c05eb53f714 46
OyaideA 1:8c05eb53f714 47
OyaideA 1:8c05eb53f714 48
LancasterUniversity 0:0041f35b0c4c 49 int main()
OyaideA 2:47b7a55b0805 50 {
OyaideA 1:8c05eb53f714 51 //Initialise the micro:bit runtime.
OyaideA 2:47b7a55b0805 52 InitialiseBuggy();
OyaideA 1:8c05eb53f714 53
OyaideA 2:47b7a55b0805 54 //Run self test forever
OyaideA 2:47b7a55b0805 55 //SelfTest();
OyaideA 2:47b7a55b0805 56 //Print the sonar time
OyaideA 2:47b7a55b0805 57 DisplaySonarTiming();
OyaideA 2:47b7a55b0805 58
LancasterUniversity 0:0041f35b0c4c 59
LancasterUniversity 0:0041f35b0c4c 60 // If main exits, there may still be other fibers running or registered event handlers etc.
LancasterUniversity 0:0041f35b0c4c 61 // Simply release this fiber, which will mean we enter the scheduler. Worse case, we then
LancasterUniversity 0:0041f35b0c4c 62 // sit in the idle task forever, in a power efficient sleep.
LancasterUniversity 0:0041f35b0c4c 63 release_fiber();
LancasterUniversity 0:0041f35b0c4c 64 }
LancasterUniversity 0:0041f35b0c4c 65
OyaideA 2:47b7a55b0805 66 void SelfTest()
OyaideA 2:47b7a55b0805 67 {
OyaideA 2:47b7a55b0805 68 int Counter = 3;
OyaideA 2:47b7a55b0805 69 unsigned int LastSystemTime = 0;
OyaideA 2:47b7a55b0805 70
OyaideA 2:47b7a55b0805 71 //Display start message using the LEDs
OyaideA 2:47b7a55b0805 72 //uBit.display.scroll("Hello World");
OyaideA 2:47b7a55b0805 73 //Instead, display 3, 2, 1, 0
OyaideA 2:47b7a55b0805 74 uBit.display.printAsync(Counter);
OyaideA 2:47b7a55b0805 75 LastSystemTime = uBit.systemTime();
OyaideA 2:47b7a55b0805 76 while (Counter > 0)
OyaideA 2:47b7a55b0805 77 {
OyaideA 2:47b7a55b0805 78 if( (uBit.systemTime()-LastSystemTime) > 1000)
OyaideA 2:47b7a55b0805 79 {
OyaideA 2:47b7a55b0805 80 //uBit.serial.printf("Counter=%d, ", Counter);
OyaideA 2:47b7a55b0805 81 LastSystemTime = uBit.systemTime();
OyaideA 2:47b7a55b0805 82 Counter = Counter - 1;
OyaideA 2:47b7a55b0805 83 uBit.display.printAsync(Counter);
OyaideA 2:47b7a55b0805 84 }
OyaideA 2:47b7a55b0805 85 }
OyaideA 2:47b7a55b0805 86
OyaideA 2:47b7a55b0805 87 while(1)
OyaideA 2:47b7a55b0805 88 {
OyaideA 2:47b7a55b0805 89 //Run the sonar test for 10 secs
OyaideA 2:47b7a55b0805 90 LastSystemTime = uBit.systemTime();
OyaideA 2:47b7a55b0805 91 while( (uBit.systemTime()-LastSystemTime) < 10000)
OyaideA 2:47b7a55b0805 92 {
OyaideA 2:47b7a55b0805 93 TestSonar();
OyaideA 2:47b7a55b0805 94 }
OyaideA 2:47b7a55b0805 95 //Display 0
OyaideA 2:47b7a55b0805 96 uBit.display.printAsync(Counter);
OyaideA 2:47b7a55b0805 97 //Run the motor test
OyaideA 2:47b7a55b0805 98 RunBasicBuggyMotorTest(800, 1000, 1000);
OyaideA 2:47b7a55b0805 99 }
OyaideA 2:47b7a55b0805 100 }
OyaideA 2:47b7a55b0805 101
OyaideA 2:47b7a55b0805 102 void DisplaySonarTiming()
OyaideA 2:47b7a55b0805 103 {
OyaideA 2:47b7a55b0805 104 while(1)
OyaideA 2:47b7a55b0805 105 {
OyaideA 2:47b7a55b0805 106 PrintSonarTiming();
OyaideA 2:47b7a55b0805 107 }
OyaideA 2:47b7a55b0805 108
OyaideA 2:47b7a55b0805 109 }