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In the preceding program, there was little to change. The part that you can stir up is the receiver program. I ll describe how to customize this after having discussed the skeleton code in Listing 9-8. Listing 9-8. The Receiver Program Template to Be Customized // I/O devices' ports #define R_WHEEL OUT_B #define L_WHEEL OUT_C #define WHEELS OUT_BC #define TOOL OUT_A #define BT_CONN 1
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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// position of the graphics onscreen #define L_INFO_PX 25 #define R_INFO_PX 75 // possible speed values #define SPEED1 (20) #define SPEED2 (50) #define SPEED3 (70) #define SPEED4 (100) // commands' constant definitions #define STOP 0 #define FWD1 1 #define FWD2 2 #define FWD3 3 #define FWD4 4 #define REV1 5 #define REV2 6 #define REV3 7 #define REV4 8 // change this constant // to get the robot going forward // when getting a FWD command // (allowed values are 1 or -1) #define DIRECTION -1 // this function returns true if the // Bluetooth connection with the robot exists, // otherwise it displays some instructions // and returns false bool CheckBTConnection(int conn) { [...] } // this function converts the received command // opcode into the corresponding motor speed short DecodeSpeed(short cmd) { short speed; if ( cmd == STOP ) speed = 0; if ( cmd == FWD1 ) speed = SPEED1; if ( cmd == FWD2 ) speed = SPEED2; if ( cmd == FWD3 ) speed = SPEED3; if ( cmd == FWD4 ) speed = SPEED4; if ( cmd == REV1 ) speed = -SPEED1;
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if ( cmd == REV2 ) speed = -SPEED2; if ( cmd == REV3 ) speed = -SPEED3; if ( cmd == REV4 ) speed = -SPEED4; return speed*sign(DIRECTION); } // this function converts the received command // opcode into the corresponding direction. // This is handy for using joysticks as one-shot digital controls short DecodeDir(short cmd) { if ( cmd == STOP ) return 0; if ( cmd == FWD1 ) return 1; if ( cmd == FWD2 ) return 1; if ( cmd == FWD3 ) return 1; if ( cmd == FWD4 ) return 1; if ( cmd == REV1 ) return -1; if ( cmd == REV2 ) return -1; if ( cmd == REV3 ) return -1; if ( cmd == REV4 ) return -1; } // this subroutine actuates the command received // * if continuous is true, the TOOL motor is run // while the remote buttons are pressed, // * if continuous is false, the TOOL motor is run stepping sub Mode0Actions(byte Lc, byte Rc, byte fun, bool continuous) { // float wheels if both Xc are equal to STOP if (Rc == STOP) Float(R_WHEEL); if (Lc == STOP) Float(L_WHEEL); if (Rc == Lc) { // if the speed of the wheels is the same, // run motors in sync OnFwdSync(WHEELS,DecodeSpeed(Rc),0); } else { // else run motor at the speed // given by the DecodeSpeed function OnFwd(R_WHEEL,DecodeSpeed(Rc)); OnFwd(L_WHEEL,DecodeSpeed(Lc)); } // if the commands can be continuous if (continuous) {
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switch (fun) { case 0: Off(TOOL); break; case 1: OnFwd(TOOL,50); break; case 2: OnRev(TOOL,100); break; } } // if the commands are one-shot else { switch (fun) { case 1: PlayTone(1000,10); RotateMotorPID(TOOL,100,180,50,30,70); break; case 2: PlayTone(2000,10); RotateMotorPID(TOOL,100,-360,50,30,70); break; } } } // these are a kind of state variables to allow the one-shot // functions' activation (avoid machine-gun effect) short oldRf,oldLf; // similar to Mode0Actions, but you can use joysticks // to perform one-shot functions, as you do with the triggers sub Mode1Actions(byte Lc, byte Rc, byte fun, bool continuous) { short R_action, L_action; R_action = DecodeDir(Rc); L_action = DecodeDir(Lc); // function activated by the right joystick // can be one-shot or continuous if ( (R_action!=oldRf) || continuous )
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