/*************************** S11tests.ic ********************************/

/*

  Test program for the Sumo11 board



  Version 1.4t  8/04

  Modified by Pete Skeggs to add WheelWatcher encoder board tests.

  I changed TESTNUM to 8; added "Menu: WW-01" to the array 'a',

  added a call to testww01(); added count_digits() and print_spaces()

  to help with screen formatting; and finally added testww01() itself.

  This uses the encoders.ic file that comes with Interactive C.  It

  works great with the WheelWatcher in quadrature mode.

  Wiring: Right ChA = digital 13, ChB = digital 8, DIR = digital 14

           Left ChA = digital 7, ChB = digital 12, DIR = digital 10

          Also, Right CLK = digital 15 and Left CLK = digital 11.



  Version 1.4s  5/03

  Modified by Dan Gates to test the functions of the sumo11 board.

  Removed the srf04 sonar test, modified the motor test, sevo tests

  and added the CMUcam blink test.



  version 1.4 1/02

  Changed by Randy Sargent for IC 4.0 and to include srf04 sonar test.

  

  version 1.3 1/01

  Changed by Anne Wright for Botball to allow selecting which test

  using the knob.  Program previously called hb-expbd-test.c.  Also

  includes hbmenu.c.



  version 1.2 11/00

  tests IR emitter -dpm



  version 1.1 7/98

  Expanded by Dave Miller 7/13/98 dmiller@kipr.org

  to include servo  and to handle menuing.



  version 1.0 -- 26 nov 95

  Fred G. Martin (fredm@media.mit.edu)

  

  

  

*/



#define TESTNUM 8



#use "serial.icb"



char buff[11];



void main()

{

    char a[TESTNUM][16]={"Menu: Motors","Menu: Servo","Menu: Digitals",

          "Menu: Analogs", "Menu: Knob", "Menu: IR", "Menu: CMUcam", "Menu: WW-01"};

    

    printf("Sumo11 tests    Press START\n");

    while(!start_button());

    printf("Turn knob to    select test\n");

    sleep(1.0);

    while(1) {

        int sel;

        printf("Turn knob to    select test\n");

        sleep(1.0);

        

        sel = select_string(a,TESTNUM);

        if(sel==0) testmotors();

        else if(sel==1) testservo();

          else if(sel==2) testdigitals();

            else if(sel==3) testanalogs();

              else if(sel==4) testknob();

                else if(sel==5) testir();

                  else if(sel==6) testcmu();

                    else if(sel==7) testww01();

                      else if (sel==8) break;

    }

    printf("Done\n");

}

void

testmotors(void)

{

    printf("Motor test, Hold STOP to end    \n");

    while (!stop_button()) {

        int i;

        for (i= 0; (!stop_button() && (i< 2)); i++) {

            fd(i); msleep(250L);

            bk(i); msleep(250L);

            off(i);

        }

    }

    beep();

}



void 

testservo(void)

{

    int i;

    printf("Attach Servos   Press START\n");

    while(!start_button());

    init_servos(1);

    while(!stop_button()) 

      for (i=990;(!stop_button() && i<4150);i=i+50) {

          printf("Hold STOP to end Servo=%d\n",i);

          servo0=servo1=servo2=servo3=i;

          msleep(50L);

      }

    init_servos(0);

    beep();

}





void

testdigitals(void)

{

    printf("Digital inputs  STOP to end\n");

    sleep(1.0);

    printf("Turn knob to    select port\n");

    sleep(1.0);

    while (!stop_button()) {

        /* Get the value of the knob.  The digital port numbering is 7-15 */

        int val = knob_int_value(6, 15);

        

        if(val == 6) {   /* show all */

            int i;

            printf("Ports 15 ...  7       ");

            for (i=15; i>6; i--)

              if (digital(i)) printf("1");

              else printf("0");

            printf("\n");

        }

        else {

            printf("Port %d: %d\n", val, digital(val));

        }

        msleep(100L);

    }

    beep();

}



void

testknob(void)

{

    while (!stop_button()) {

        printf("Turn knob; STOP to end -> %d\n", knob());

        msleep(100L);

    }

    beep();

}



/* void

testsonar(void)

{

    while (!stop_button()) {

        printf("Test sonar; STOP to end -> %d\n", sonar());

        msleep(100L);

    }

    beep();

}

*/

void

testanalogs(void)

{

    printf("Analog ins;     STOP to end\n");

    sleep(1.0);

    printf("Turn knob to    select port\n");

    sleep(1.0);

    while (!stop_button()) {

        /* Get the value of the knob.  The A/D numbering is 0-6. */

        int val = knob_int_value(0, 6);

        

        printf("Port %d: %d\n", val, analog(val));

        msleep(100L);

    }

    beep();

}





void hb_ir_transmit_on()

{

    bit_set(0x1000,0b01000000);

}



void hb_ir_transmit_off()

{

    bit_clear(0x1000,0b01000000);

}



void testir()

{

    printf("Blinking IR xmit STOP to stop\n");

    while(!stop_button()){

        hb_ir_transmit_on();

        sleep(.1);

        hb_ir_transmit_off();

        sleep(0.1);

    }

    beep();

}



void testcmu()

{

    printf("Attach CMUcam   Press START\n");

    while(!start_button()){}

    beep();msleep(50L);beep();

    

    printf("Blink test, HoldSTOP to stop\n");

    while(!stop_button()){

        serial_init(0);

        serial_string("rs\r");

        

        sr_blink();

        sr_blink();

        sr_blink();

    }

}



void sr_blink()

{

    serial_string("L1 1\r");

    msleep(100L);

    serial_string("L1 0\r");

    msleep(100L);

}



void serial_wait(int c){

    int d=0;

    while(d != c){

        d = serial_getchar(0);

    }

}



void serial_string(char c[])

{

    int x,y=0;

    while(y != 0x0d){

        y = c[x++];

        serial_putchar(y);

        

    }

}



int count_digits(int val)

{

    if ((val >= 0) && (val <= 9))

      return 1;

    else if (((val < 0) && (val >= -9)) || ((val >= 10) && (val <= 99)))

        return 2;

      else // good enough at 3...

        return 3;

}



int print_spaces(int num)

{

    while (num--)

      printf(" ");

}



void testww01()

{

    int right=0;

    int left=0;

    int prev_right=-1;

    int prev_left=-1;

    int ra = -1;

    int rb = -1;

    int rd = -1;

    int la = -1;

    int lb = -1;

    int ld = -1;

    int changed = 0;

    printf("Turn wheels     Press START\n");

    while (!start_button()){}

    beep();

    set_quad_mode();

    enable_encoder(0);

    enable_encoder(1);

    while (!stop_button()){

        left = read_encoder(0);

        right = read_encoder(1);

        /* check for changes to any of the values; this helps us prevent ugly screen flashes on the LCD */

        if ((left != prev_left) || (right != prev_right))

          changed = 1;

        prev_left = left;

        prev_right = right;

        if (digital(8) != ra) {

            changed = 1;

            ra = digital(8);

        }

        if (digital(13) != rb) {

            changed = 1;

            rb = digital(13);

        }

        if (digital(14) != rd) {

            changed = 1;

            rd = digital(14);

        }

        if (digital(7) != la) {

            changed = 1;

            la = digital(7);

        }

        if (digital(12) != lb) {

            changed = 1;

            lb = digital(12);

        }

        if (digital(10) != ld) {

            changed = 1;

            ld = digital(10);

        }

        if (changed) {

            changed = 0;

            printf("r:%d", right);

            print_spaces(5 - count_digits(right)); /* make sure the line ends up being 16 chars, so the left encoder values start at left most column of LCD line 2 */

            printf("a%d b%d d%d ", ra, rb, rd);

            printf("l:%d", left);

            print_spaces(5 - count_digits(left));

            printf("a%d b%d d%d\n", la, lb, ld);

        }

    }

    disable_encoder(0);

    disable_encoder(1);

}



/****************************** hbmenu.c ********************************/

/* Menu functions which also allow variables to be set via the knob

   and selection buttons  



   Version 1.0 

   Written for MIT 6.270 contest by Anne Wright 11/14/1991 



   Version 2.0

   Converted for Handy Board for Botball by Anne Wright 1/13/2001

*/



/* abstractions for chosen_button */

#define NEITHER_B 0

#define START_B  1

#define STOP_B  2



/* abstractions for wait_button */

#define UP_B      3

#define DOWN_B    4

#define CYCLE_B   5



/*****************************button routines*************************/

/* Return minimum of two integers */

int min(int a,int b)

{

    if(a<b)

      return(a);

    else

      return(b);

}



/* Return minimum of two floats */

float fmin(float a,float b)

{

    if(a<b)

      return(a);

    else

      return(b);

}



/* Returns which button is depressed using definitions above.  If

   both are pressed, start has precedence */

int chosen_button()

{

    if(start_button())

      return START_B;

    else if(stop_button())

        return STOP_B;

      else 

        return NEITHER_B;

}  



/* wait until button is depressed(DOWN_B), released(UP_B), or

   both(CYCLE_B) and return which button if any activated the

   sequence */



int wait_button(int i)

{

    if(i==DOWN_B){

        while(!(start_button() || stop_button()));

        return chosen_button();

    }

    else if (i==UP_B) {

          int b;

          b=chosen_button();

          while(start_button() || stop_button());

          return b;

      }

      else {

          int b;

          while(!(start_button() || stop_button()));

          b=chosen_button();

          while(start_button() || stop_button());

          return b;

      }

} 



/********************* Knob to Number routines*****************************/



/* Returns an integer value from min_val to max_val based on the current

   position of the knob */  

int knob_int_value(int min_val,int max_val)

{

    int val, coarseness=(255)/(max_val-min_val),selection;

    

    val=min((knob())/coarseness+min_val,max_val);

    return min(val,max_val);

}



/* Returns an float value from min_val to max_val based on the current

   position of the knob */  

float knob_float_value(float min_val,float max_val)

{

    float val, coarseness=(255.)/(max_val-min_val),selection;

    val=fmin(((float)knob())/coarseness+min_val,max_val);

    return fmin(val,max_val);

}



/******************** Menu selection routines ****************************/



/* While waiting for a button press, display the string passed in and

   the val, the integer value betwen min_val and max_val for the knob.

   If the button pressed is the start button, returns the final value

   of val.  If the button pressed is the stop button, returns -1.  */

int select_int_value(char s[],int min_val,int max_val)

{

    int val, button;

    

    printf("%s %d to %d\n",s,min_val, max_val);

    sleep(0.8);

    

    /* Wait until no button is pressed */

    wait_button(UP_B);

    

    /* While no button is pressed, display the string passed in and the

       current value of val */

    while((button = chosen_button())==NEITHER_B) {

        val=knob_int_value(min_val,max_val);

        printf("%s %d\n",s,val);

        msleep(100L);

    }

    

    /* Wait until no button is pressed */

    wait_button(UP_B);

    

    if(button==STOP_B)

      return(-1); /** -1 means stop pressed -- do not reset value **/

    else

      return(val); /* Stop not pressed, return val */

}



/* While waiting for a button press, display the string passed in and

   the val, the float value betwen min_val and max_val for the knob.

   If the button pressed is the start button, returns the final value

   of val.  If the button pressed is the stop button, returns -1.  */

float select_float_value(char s[],float min_val,float max_val)

{

    float val;

    int button;

    

    printf("%s %f to %f\n",s,min_val, max_val);

    sleep(0.8);

    

    /* Wait until no button is pressed */

    wait_button(UP_B);

    

    /* While no button is pressed, display the string passed in and the

       current value of val */

    while((button = chosen_button())==NEITHER_B) {

        val=knob_float_value(min_val,max_val);

        printf("%s %f\n",s,val);

        msleep(100L);

    }

    

    /* Wait until no button is pressed */

    wait_button(UP_B);

    

    if(button==STOP_B)

      return(-1.0); /** -1 means stop pressed -- do not reset value **/

    else

      return(val); /* Stop not pressed, return val */

}



/* While waiting for a button press, display the string from the array

   of strings passed in which corresponds to the current position of

   the knob (see select_int_value).  If the button pressed is the

   start button, returns the index of the string selected (0 to n-1).

   If the button pressed is the stop button, returns -1.  */

int select_string(char choices[][],int n)

{

    int selection,last_selection=-1,button;

    

    if(n>_array_size(choices))

      n=_array_size(choices);

    

    

    /* Wait until no button is pressed */

    wait_button(UP_B);

    

    /* While no button is pressed, display the string from the array

       of strings passed in which corresponds to the current position

       of the knob */

    while((button = chosen_button())==NEITHER_B) {

        selection=knob_int_value(0,n-1);

        if(selection!=last_selection) {

            printf("%s\n",choices[selection]);

            msleep(150L);

            last_selection=selection;

        }

    }

    

    /* Wait until no button is pressed */

    wait_button(UP_B);

    

    if(button==STOP_B)

      return(-1); /** -1 means stop pressed -- do not reset value **/

    else

      return(selection); /* Stop not pressed, return val */

}



/*

 * Local variables:

 *  comment-column: 40

 *  c-indent-level: 4

 *  c-basic-offset: 4

 * End:

 */