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DILLIGAF.h
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DILLIGAF.h
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/*
▄▀▀▄ ▄▀▀▄ ▄▀▀▀▀▄ ▄▀▀▀▀▄ ▄▀▀█▄▄ ▄▀▀▀▀▄ ▄▀▀▀▀▄
█ █ █ █ █ █ █ █ ▄▀ █ █ █ █ █
▐ █ █ █ █ █ █ ▐ █ █ █ █ █ █
█ ▄▀ ▀▄ ▄▀ ▀▄ ▄▀ █ █ ▀▄ ▄▀ ▀▄ ▄▀
▀▄▀ ▀▀▀▀ ▀▀▀▀ ▄▀▄▄▄▄▀ ▀▀▀▀ ▀▀▀▀
$ Author: Risha $ █ ▐
$ Revision: 0.9 $ ▐
PascalCase - Pins
camelCase - Variables
snake_case - Functions
== TODO ==
-
*/
/*==============================================================================
Global Variables
==============================================================================*/
unsigned int dipNum;
const int blackValue = 650, whiteValue = 500;
int lastSensorValue = 0;
bool buttonPressed = false, robotOn = false;
unsigned long buttonPressTime = 0;
/*==============================================================================
Finite State Machine
/*==============================================================================
/*==============================================================================
Opponent Sensors
==============================================================================*/
#define LeftSensor 0 // left sensor (digital input)
#define FrontLeftSensor 0 // left diagonal sensor (digital input)
#define FrontMiddleSensor 0 // front middle sensor (digital input)
#define FrontRightSensor 0 // right diagonal sensor (digital input)
#define RightSensor 0 // right sensor (digital input)
/*==============================================================================
Edge Detection Sensors
==============================================================================*/
#define FrontLeftEdge A0 // front left edge sensor (analog input)
#define FrontRightEdge A0 // front left edge sensor (analog input)
#define BackEdge A0 // back edge sensor (analog input)
/*==============================================================================
Buttons & Switches
==============================================================================*/
#define PushButton 0 // push button (digital input pullup)
#define DipSwitch1 0 // switch 1 (digital input pullup - MSB)
#define DipSwitch2 0 // switch 2 (digital input pullup)
#define DipSwitch3 0 // switch 3 (digital input pullup)
#define DipSwitch4 0 // switch 4 (digital input pullup - LSB)
int dip_switch() {
/*
Returns
----------
- dipNum : unsigned int
The value of `dipNum` determined by the dip switch states (ranging from 0 to 15).
Description
----------
Determines the value of the variable `dipNum` based on the combination of the four dip switch states.
Each dip switch represents a binary value, where LOW represents 0 and HIGH represents 1.
*/
unsigned int dipNum = 0;
dipNum |= digitalRead(DipSwitch1) << 3;
dipNum |= digitalRead(DipSwitch2) << 2;
dipNum |= digitalRead(DipSwitch3) << 1;
dipNum |= digitalRead(DipSwitch4);
return dipNum;
}
/*==============================================================================
Sensors Debugging
==============================================================================*/
void sensor_debug() {
Serial.println("Opponent Sensors: (L - FL - FM - FR - R)");
Serial.print(digitalRead(LeftSensor));
Serial.print(" - ");
Serial.print(digitalRead(FrontLeftSensor));
Serial.print(" - ");
Serial.print(digitalRead(FrontMiddleSensor));
Serial.print(" - ");
Serial.print(digitalRead(FrontRightSensor));
Serial.print(" - ");
Serial.print(digitalRead(RightSensor));
Serial.print("\n\n");
Serial.println("Edge Sensors: (FL - FR - B)");
Serial.print(analogRead(FrontLeftEdge));
Serial.print(" - ");
Serial.print(analogRead(FrontRightEdge));
Serial.print(" - ");
Serial.print(analogRead(BackEdge));
Serial.print("\n\n");
}