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Now, I ll provide you with a sort of development guide to write custom sender and receiver programs. To speed up your work, you can copy and modify the skeleton programs that follow.
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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I start with the sender program that, while almost identical to the advanced sender program of Listing 9-3, is generalized in some aspects. The program runs on the remote NXT, so that the initial port definitions don t change. The only customizations you have to be concerned with are the number of modes you want your remote to have and the onscreen textual help for the remote user. To set the maximum quantity of modes available, you can change the MODE_LAST definition that is found in the program header (see Listing 9-5). For example, if you plan for your remote to have five total modes, replace the definition with the following: #define MODE_LAST MODE4 Otherwise, to have just two modes, leave the following definition: #define MODE_LAST MODE1 Listing 9-5. The Modes Definition in the Sender Program Header #define #define #define #define #define #define #define #define #define #define #define MODE0 0 MODE1 1 MODE2 2 MODE3 3 MODE4 4 MODE5 5 MODE6 6 MODE7 7 MODE8 8 MODE9 9 MODE_LAST MODE1
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//<-----Change this one
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The MODE_LAST constant is used by the ChangeMode() function (that is called in its turn by the GetTriggers() function), when both Touch Sensors are pressed together. The ChangeMode function code is shown in Listing 9-6 just to clarify the MODE_LAST constant function. Listing 9-6. The ChangeMode Function Called When Both Triggers Are Pressed void ChangeMode() { mode++; if (mode>MODE_LAST) mode = MODE0; } The mode variable is a global one that is initialized to MODE0 at the beginning of the main task. Then, every time the ChangeMode function is called, the mode variable is incremented by one, and eventually reset back to MODE0, if the mode variable value has exceeded the MODE_LAST value. So, by setting MODE_LAST to MODE1, the mode variable will assume just the values MODE0 and MODE1. Because it will be incremented up to the MODE2 value (actually yielding 2), it will be changed back to MODE0. Got it Now, Listing 9-7 shows the second customizable part of the program.
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Listing 9-7. Fill This Empty ShowCommands() Function Frame with Onscreen Contextual Help sub ShowCommands() { // add text output on NXT screen to guide the user if (mode == MODE0) { //help for mode 0 } if (mode == MODE1) { //help for mode 1 } if (mode == MODE2) { //help for mode 2 } //code to display the joystick position omitted [...] } The ShowCommands() function is called at every iteration of the infinite loop of the JoySticksMonitor task. On LCD line 2, it displays the arrows to indicate the current joysticks position, so that you can exploit the rest of the display (lines 3 through 8) to write some short hints to help the user know what can be done in the actual remote mode. You should use the ClearLine(int line) macro (defined in the file J5Defs.nxc) to clear only one line of the display at a time. For example, use ClearLine(2) to clear just the second line of the screen. Usually, it is better to use a macro such as this instead of the ClearScreen() NXC function to avoid erasing the other information that other subroutines or tasks could write on the screen. This way, you can clear just the line you are going to use. Recall that you can write text on the NXT screen by using the TextOut(int x,int y,string text) function, replacing the comments //help for mode N. You can also add other if blocks to manage all the modes that help the system (up to ten in this case).
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