diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/io.c | 1 | ||||
| -rw-r--r-- | robot/io.h | 2 | ||||
| -rw-r--r-- | robot/readme.md | 4 | ||||
| -rw-r--r-- | robot/sim.c | 32 | ||||
| -rw-r--r-- | robot/sim.h | 11 |
5 files changed, 47 insertions, 3 deletions
@@ -27,4 +27,3 @@ void w2_io_main() { print(g_w2_io.lcd.text); }; -void w2_io_init() { w2_modes_call(W2_M_SCAL); } @@ -3,6 +3,8 @@ #include <stdint.h> #include <stdlib.h> +void w2_io_main(); + typedef struct { bool pressed; } w2_s_i_push; diff --git a/robot/readme.md b/robot/readme.md index eb1dd37..c1cae72 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -55,9 +55,9 @@ what they're supposed to do: |module |internal name|due|author|purpose| |------------------|-------------|-|-|-| |hypervisor |`hypervisor `|done|N/a| backbone of all other modules; stores global variables; controls when other modules run| -|pc communication |`sercomm `|may 27|Loek| reads and parses incoming serial data; sends all data in the message buffer| +|pc communication |`sercomm `|done|Loek| reads and parses incoming serial data; sends all data in the message buffer| |error handling |`errcatch `|done|Loek| receives error codes; controls how errors are handled| -|i/o read & write |`io `|may 27|Jorn & Abdullaahi| reads all inputs to global state; writes all outputs| +|i/o read & write |`io `|done|Jorn & Abdullaahi| reads all inputs to global state; writes all outputs| |mode logic |`modes `|done|N/a| executes the appropriate module for current mode| |maze |`mode_maze `|may 31|Jorn & Abdullaahi| controls robot during maze portion of map; hands off control to warehouse module| |warehouse |`mode_grid `|may 31|Loek| controls robot during warehouse portion of map; hands off control to maze module| diff --git a/robot/sim.c b/robot/sim.c index ddc208a..0f1c7e6 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -126,3 +126,35 @@ void w2_sim_print_serial(w2_s_bin *data) { void set_motors(int left, int right) { simprintfunc("set_motors", "%i, %i", left, right); } + +static const char* const W2_BUTTON_NAMES[] = { + "BUTTON_A", + "BUTTON_B", + "BUTTON_C", + "TOP_BUTTON", + "BOTTOM_BUTTON", +}; + +unsigned char get_single_debounced_button_press(unsigned char buttons) { + simprintfunc("get_single_debounced_button_press", "%s", W2_BUTTON_NAMES[buttons]); + return false; +} + +void qtr_read(unsigned int* sensor_values, unsigned char read_mode) { + simprintfunc("qtr_read", "0x%016lx, %s", (uint64_t) sensor_values, read_mode == QTR_EMITTERS_ON ? "QTR_EMITTERS_ON" : "???"); + sensor_values[0] = 0; + sensor_values[1] = 0; + sensor_values[2] = 0; + sensor_values[3] = 0; + sensor_values[4] = 0; +} + +unsigned int analog_read(unsigned char channel) { + simprintfunc("analog_read", "ADC%i", channel); + return 0; +} + +void print(const char* str) { + simprintfunc("print", "\"%s\"", str); +} + diff --git a/robot/sim.h b/robot/sim.h index a595042..f087517 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -40,6 +40,13 @@ extern bool g_w2_sim_headless; #define simwarn(message, ...) if (DBG_ENABLE_SIMWARN) { simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__); } #define siminfo(message, ...) if (DBG_ENABLE_SIMINFO) { simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__); } +#define BUTTON_A 0 +#define BUTTON_B 1 +#define BUTTON_C 2 +#define TOP_BUTTON 3 +#define BOTTOM_BUTTON 4 +#define QTR_EMITTERS_ON 0 + /** * simulates pololu library functions for local testing * NOLINT is so clang-tidy doesn't correct function names @@ -55,6 +62,10 @@ void serial_send(char *message, unsigned int length); // NOLINT void serial_receive_ring(char *buffer, unsigned char size); // NOLINT unsigned char serial_get_received_bytes(); // NOLINT void set_motors(int left, int right); // NOLINT +unsigned char get_single_debounced_button_press(unsigned char buttons); // NOLINT +void qtr_read(unsigned int* sensor_values, unsigned char read_mode); // NOLINT +unsigned int analog_read(unsigned char channel); // NOLINT +void print(const char* str); // NOLINT void w2_sim_setup(int argc, char **argv); void w2_sim_cycle_begin(); |