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{ if (R_action>0) { PlayTone(1000,10); } if (R_action<0) { PlayTone(1500,10); } } // function activated by the left joystick // can be one-shot or continuous if ( (L_action!=oldLf) || continuous ) { if (L_action>0) { PlayTone(2000,10); } if (L_action<0) { PlayTone(3000,10); } } oldRf = R_action; oldLf = L_action; // if the commands can be continuous if (continuous) { switch (fun) { case 0: Off(TOOL); break; case 1: OnFwd(TOOL,50); break; case 2: OnRev(TOOL,50); break; } } // if the commands are one-shot else { switch (fun)
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{ case 1: RotateMotorPID(TOOL,100,180,50,30,70); break; case 2: RotateMotorPID(TOOL,100,-360,50,30,70); break; } } } sub Mode2Actions(byte Lc, byte Rc, byte fun, bool continuous) { // ... } // this subroutine displays information // about the command received sub ShowCommands(byte Lc, byte Rc, byte trig, byte command, byte mode) { [...] } task main () { short command; byte Rcmd, Lcmd, function, mode; if (!CheckBTConnection(0)) { // if Bluetooth connection with remote control // is not established, stop the whole program Stop(true); } // loop forever while(true) { // if the mailbox 1 is not empty, process command if (ReceiveRemoteNumber(1,true,command) != STAT_MSG_EMPTY_MAILBOX) { // decode remote control working mode (1000s) mode = (command/1000); // decode the left command (100s) Rcmd = (command/10)%10; // decode the right command (10s) Lcmd = (command/100)%10; // decode the function (1s)
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function = ((command%1000)%100)%10; // show various information onscreen ShowCommands(Lcmd,Rcmd,function,command,mode); // actuate commands switch(mode) { case 0: case 1: // case 2: // ... // case 9: } } Wait(50); } } Now, let s proceed in order. At the top of the program, you can edit the port alias definitions and the DIRECTION constant to fit your particular robot s hardware configuration. Also, you can change the four speed levels. The main task checks if the Bluetooth connection with the master exists (connection number 0); if so, it enters the infinite loop that checks for incoming commands and dispatches them. After the command has been unpacked, the Rcmd, Lcmd, function, and mode variables are filled with the values sent by the remote. According to the mode variable value, different subroutines are called inside the switch structure. For example, if mode is equal to MODE0, then Mode0Actions is called. You can add other routines as Mode1Actions and so on (up to Mode9Actions, because the total number of available modes is ten). Of course, you can also use more imaginative names for your routines! Inside the Mode0Actions routine (meant to be the default one), the wheels are driven as in the Move() subroutine of the simple program in Listing 9-2. Also, the two functions can be activated by pressing the two Touch Sensors on the remote control. The other subroutines, from Mode1Actions to Mode9Actions(), have a similar structure. The joysticks, which control the wheels in the MODE0, can be used in the other modes to activate other functions than the wheel movement, as you do with the triggers. However, you can plan to use the multiple modes to change just the triggers functions, and to have the joysticks always control the wheels. If you re going to use the joysticks to trigger discrete functions (that don t need the analog feature), you ll want to avoid a machine-gun effect. In other words, you should wait for the joystick to be released and centered before triggering another action, just like you did before for the triggers. Listing 9-9 shows the code excerpt of the solution adopted in the Mode1Actions subroutine to avoid the machine-gun effect for the right joystick. You can read the similar code for the left joystick in Listing 9-8.
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Mode0Actions(Lcmd,Rcmd,function,true); break; Mode1Actions(Lcmd,Rcmd,function,false); break; Mode2Actions(Lcmd,Rcmd,function,false); break; Mode9Actions(Lcmd,Rcmd,function,false); break;
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