diff options
Diffstat (limited to 'robot/io.c')
| -rw-r--r-- | robot/io.c | 20 |
1 files changed, 13 insertions, 7 deletions
@@ -1,9 +1,11 @@ -#include "io.h" +#include <string.h> + #include "../shared/consts.h" +#include "io.h" #include "modes.h" #include "orangutan_shim.h" -w2_io_all g_w2_io; +w2_s_io_all g_w2_io; void w2_io_main() { g_w2_io.button[0].pressed = get_single_debounced_button_press(BUTTON_A); @@ -11,11 +13,11 @@ void w2_io_main() { g_w2_io.button[2].pressed = get_single_debounced_button_press(BUTTON_C); g_w2_io.button[3].pressed = get_single_debounced_button_press(TOP_BUTTON); g_w2_io.button[4].pressed = get_single_debounced_button_press(BOTTOM_BUTTON); + unsigned int sensor_values[5]; qtr_read(sensor_values, QTR_EMITTERS_ON); - for (int i = 0; i < 5; i++) { - g_w2_io.qtr[i].range = sensor_values[i]; - } + for (int i = 0; i < 5; i++) g_w2_io.qtr[i].range = sensor_values[i]; + // TODO average voltage over mutiple samples sensor g_w2_io.battery.charge_level = analog_read(W2_BATTERY_PIN); g_w2_io.front_distance.detection = analog_read(W2_FRONT_SENSOR_PIN); @@ -24,6 +26,10 @@ void w2_io_main() { set_motors(g_w2_io.motor_left.speed, g_w2_io.motor_right.speed); red_led(g_w2_io.led_red.on); green_led(g_w2_io.led_green.on); - print(g_w2_io.lcd.text); -}; + // TODO don't do this every cycle + char text_copy[17]; + memcpy((char *)text_copy, g_w2_io.lcd.text, 16); + text_copy[16] = 0x00; + print(text_copy); +}; |