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#include <niboburger/base.h>
#include <niboburger/iodefs.h>
#include <niboburger/usart.h>
#include <niboburger/motpwm.h>
#include <niboburger/motpid.h>
#include <niboburger/analog.h>
#include <niboburger/odometry.h>
#include <niboburger/led.h>
#include <niboburger/key.h>
#include <niboburger/delay.h>
#include <niboburger/surface.h>
#include <niboburger/color.h>

#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <string.h>
#include <stdlib.h>
#include "maroon.hpp"

uint16_t maroon_cnt;
uint8_t maroon_mode;
char maroon_gfxdata[] = MAROON_LOAD() MAROON_BAR("00000000");
#define MAROON_BAR_OFFSET 4

void maroon_bars(char a, char b, char c, char d, char e, char f, char g, char h) {
  if (usart_txempty()) {      
    maroon_gfxdata[MAROON_BAR_OFFSET+0] = a;
    maroon_gfxdata[MAROON_BAR_OFFSET+1] = b;
    maroon_gfxdata[MAROON_BAR_OFFSET+2] = c;
    maroon_gfxdata[MAROON_BAR_OFFSET+3] = d;
    maroon_gfxdata[MAROON_BAR_OFFSET+4] = e;
    maroon_gfxdata[MAROON_BAR_OFFSET+5] = f;
    maroon_gfxdata[MAROON_BAR_OFFSET+6] = g;
    maroon_gfxdata[MAROON_BAR_OFFSET+7] = h;
    usart_write(maroon_gfxdata);
  }
}

void maroon_setup() {
  usart_setbaudrate(38400);
  usart_enable();
}

void maroon_welcome() {
  maroon_mode=0;
  usart_write(MAROON_IMM_CLEAR() MAROON_BRIGHT(0) MAROON_LOAD() MAROON_BAR("0") MAROON_DIM(*) MAROON_PAUSE(100) MAROON_DIM(5) MAROON_STIME(60) " Taster 1 drücken\n" MAROON_TXBACK("."));
}

char getSensorChar(int16_t val) {
  if (val<5) return 'a';
  if (val<10) return 'b';
  if (val<15) return 'c';
  if (val<25) return 'd';
  if (val<35) return 'e';
  if (val<50) return 'f';
  if (val<70) return 'g';
  if (val<100) return 'h';
  return 'i';
}

void maroon_loop() {
  if (!usart_rxempty()) {
    char c = usart_getchar();
    if (c=='.') {
      maroon_mode = 1;
    }
  }
  if (maroon_mode) {
    if (maroon_cnt) {
      maroon_cnt--;
      return;
    }
    maroon_cnt=20;
    if (usart_txempty()) {
      char l = getSensorChar(analog_getValueExt(ANALOG_FL, 2));
      char r = getSensorChar(analog_getValueExt(ANALOG_FR, 2));
      char ll = getSensorChar(analog_getValueExt(ANALOG_FLL, 2));
      char rr = getSensorChar(analog_getValueExt(ANALOG_FRR, 2));      
      maroon_bars(rr, '0', r, '0', '0', l, '0', ll);
    }
  }
}

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hindernisse_ausweichen/maroon.cpp [read only]

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