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Copy pathDFW.cpp
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257 lines (227 loc) · 5.89 KB
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/* Serial controller library for DFWireless controllers with wired connection or XBee connection
written by Joe St. Germain
For RBE Class use
joest@wpi.edu
*/
#include "Arduino.h"
#include "DFW.h"
// used in the setup portion of your program
// baud = defualt is 9600
//port_num = serial1 lowercase s defualt is serial1
void DFW::run(void) {
update();
unsigned long tmp = 0;
long timeDiff = 0;
switch (state) {
case powerup:
digitalWrite(robot->getDebugLEDPin(), 1);
Serial.println("\r\nwaiting for DWF init...");
if (!start()) {
state = waitForAuto;
Serial.println("\r\nwaiting for auto (press start)...");
} else
break;
/* no break */
case waitForAuto:
if (start()) {
robot->robotStartup();
state = Autonomous;
autoStartTime = millis(); // sets start time of autonomous
Serial.println("\r\nRunning Auto...");
// fall through when a state changes
} else
break;
/* no break */
case Autonomous:
timeDiff = millis() - autoStartTime;
if (timeDiff > autoTime) {
state = waitForTeleop;
robot->robotShutdown();
Serial.println("\r\nwaiting for teleop (press start)...");
// fall through when a state changes
} else {
tmp = millis();
robot->autonomous(autoTime - timeDiff);
if (functionReturnTime < (millis() - tmp)) {
Serial.print(
"\r\n\r\nERROR!! user Functions should return in ");
Serial.print(functionReturnTime);
Serial.print(" ms, took ");
Serial.print((millis() - tmp));
Serial.println(" ms ");
}
break;
}
/* no break */
case waitForTeleop:
if (start()) {
state = Teleop;
teleopStartTime = millis(); // sets start time of autonomous
Serial.println("\r\nRunning Teleop...");
// fall through when a state changes
} else
break;
/* no break */
case Teleop:
timeDiff = millis() - teleopStartTime;
if (timeDiff > teleopTime) {
state = waitForAuto;
robot->robotShutdown();
Serial.println("\r\nwaiting for auto (press start)...");
} else {
tmp = millis();
robot->teleop(teleopTime - timeDiff);
if (functionReturnTime < (millis() - tmp)) {
Serial.print(
"\r\n\r\nERROR!! user Functions should return in ");
Serial.print(functionReturnTime);
Serial.print(" ms, took ");
Serial.print((millis() - tmp));
Serial.println(" ms ");
}
break;
}
}
}
void DFW::update(void) {
while (Serial1.peek() != 'A' && Serial1.available() >= packetSize) {
Serial1.read();
}
if (Serial1.peek() == 'A' && Serial1.available() >= packetSize) {
packet[0] = Serial1.read();
if (Serial1.peek() == 'c' && Serial1.available() >= (packetSize - 1)) {
for (int i = 1; i < packetSize; i++) {
packet[i] = Serial1.read();
}
if (packet[0] == 'A' && packet[1] == 'c' && packet[6] == 'a'
&& packet[9] == 'B' && packet[12] == 'b') {
for (int i = 0; i < 2; i++) {
byteBu[i] = packet[10 + i];
}
for (int i = 0; i < 4; i++) {
byteAn[i] = packet[2 + i];
}
}
lastHeartBeatTime = millis();
}
}
//Heartbeat need to read once every 1 seconds
hbTime = millis() - lastHeartBeatTime;
if (hbTime > 1000) {
Serial.print("\r\nHB tripped clearing data. Diff= ");
Serial.print(hbTime);
Serial.print(" lastTime = ");
Serial.print(lastHeartBeatTime);
Serial.print(" current Time = ");
Serial.print(millis());
digitalWrite(robot->getDebugLEDPin(), 1);
for (int i = 0; i < buttonBytes; i++) {
byteBu[i] = 127;
}
for (int i = 0; i < analogBytes; i++) {
byteAn[i] = 90;
}
return;
} else {
long timeSinceFlash = millis() - flashTime;
if (timeSinceFlash > 1000) {
flashTime = millis();
} else if (timeSinceFlash > 900) {
digitalWrite(robot->getDebugLEDPin(), 1);
} else {
digitalWrite(robot->getDebugLEDPin(), 0);
}
}
}
DFW::DFW(AbstractDFWRobot * myrobot){
robot=myrobot;
startup();
}
DFW::DFW(int debugpin){
robot=new DymmyDFWRobot(debugpin);
startup();
}
void DFW::startup(){
state = powerup;
pinMode(robot->getDebugLEDPin(), OUTPUT);
digitalWrite(robot->getDebugLEDPin(), 0);
};
CompetitionState DFW::getCompetitionState(void) {
return state;
}
void DFW::begin() //serial1 is the only functional input
{
Serial1.begin(9600);
Serial1.setTimeout(250);
}
int DFW::joystickrv(void) {
return (unsigned char) byteAn[0];
}
int DFW::joystickrh(void) {
return (unsigned char) byteAn[1];
}
int DFW::joysticklv(void) {
return (unsigned char) byteAn[2];
}
int DFW::joysticklh(void) {
return (unsigned char) byteAn[3];
}
bool DFW::start(void) // returns start button state
{
return ((byteBu[1] & 0b00000010) == 0);
}
bool DFW::select(void) // select button state
{
return ((byteBu[1] & 0b00000001) == 0);
}
bool DFW::one(void) // button one state
{
return ((byteBu[0] & 0b01000000) == 0);
}
bool DFW::two(void) // button two state
{
return ((byteBu[0] & 0b00100000) == 0);
}
bool DFW::three(void) //button three state
{
return ((byteBu[0] & 0b00010000) == 0);
}
bool DFW::four(void) //button four state
{
return ((byteBu[0] & 0b00001000) == 0);
}
bool DFW::up(void) //up button state
{
return ((byteBu[1] & 0b00001000) == 0);
}
bool DFW::down(void) //down button state
{
return ((byteBu[1] & 0b00000100) == 0);
}
bool DFW::left(void) //left button state
{
return ((byteBu[1] & 0b00100000) == 0);
}
bool DFW::right(void) //right button state
{
return ((byteBu[1] & 0b00010000) == 0);
}
bool DFW::l1(void) //L1 button state
{
return ((byteBu[0] & 0b00000100) == 0);
}
bool DFW::l2(void) //L2 button state
{
return ((byteBu[0] & 0b00000001) == 0);
}
bool DFW::r1(void) //R1 button state
{
return ((byteBu[0] & 0b00000010) == 0);
}
bool DFW::r2(void) //R2 button state
{
return ((byteBu[1] & 0b01000000) == 0);
}
void DFW::end(void) {
Serial1.end();
}