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Adding back graphical wait_for_light #175

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Adding back graphical wait_for_light #175

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812a729
Adding back graphical wait_for_light
Zacharyprime Sep 16, 2022
6ee5efd
Added graphics dependency to CMakeLists of botball module
Zacharyprime Sep 16, 2022
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -108,4 +108,4 @@ set(CPACK_DEBIAN_PACKAGE_MAINTAINER "KISS Institute for Practical Robotics")
set(CPACK_PACKAGE_VERSION_MAJOR ${KIPR_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${KIPR_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${KIPR_VERSION_PATCH})
include(CPack)
include(CPack)
198 changes: 101 additions & 97 deletions module/botball/src/botball_c.cpp
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Expand Up @@ -3,6 +3,10 @@
#include "kipr/button/button.h"
#include "kipr/analog/analog.h"
#include "kipr/console/console.h"
#include "kipr/graphics/graphics.h"
#include "kipr/graphics/graphics_characters.h"
#include "kipr/console/display.h"
#include "kipr/console/console.h"

#include <stdio.h>
#include <string.h>
Expand Down Expand Up @@ -59,105 +63,105 @@ void shut_down_in(double s)
}


//Waits for the light to shine on the light sensor.
//Ignores camera flashes
//Zachary Sasser - [email protected]
// Rework of Wallaby version of wait_for_light to work with the Wombat KRC
// cnw: 8/15/2019
#define FLASHPAUSE 100 // msecs to pause to let a flash subside
/* Assumption is that if light is detected by consecutive readings FLASHPAUSE apart,
it's the start light, not a flash
NOTE: when tested with camera, the flash persisted < 0.1 sec
*/
#define THRESHOLD 60 // minimum discrimination between light and dark
#define RED 255,0,0
#define GREEN 0,255,0
#define WHITE 255,255,255
#define BLACK 0,0,0
#define CROWS 200 // Cylon window dimensions
#define CCOLS 500
#define INSET 100 // how much to inset Cylon eye
#define DJUMP 2 // how far to jump to next red circle - affects speed of red circle
void colorbar(int i, int range);

void wait_for_light(int port)
//Waits for the light to shine on the light sensor.
void wait_for_light(int light_port)
{
int badDifference = 100; //The standard for what is too close for the light values

while(1>0){

while(any_button()){} //Debounce

while(!any_button()){

printf("Turn on light and press button... \n");
printf("Light ON Value: %d <---- \n", analog(port));
printf(" |=| \n");
printf(" / \\ \n");
printf("--- ( ) --- \n");
printf(" , `-'. \n");
printf(" / | \\ \n");
printf(" ' | ` \n");

if(any_button()){ break; } //Makes the button more responsive

msleep(200);
console_clear(); //For refreshing the values

}

int initial = analog(port); //Set Light ON Value

while(any_button()){} //Debounce

while(!any_button()){
printf("Turn off light and press button... \n \n");
printf("Light ON Value: %d \n", initial);
printf("Light OFF Value: %d <---- \n", analog(port));
printf(" |=| \n");
printf(" / \\ \n");
printf(" ( ) \n");
printf(" `-' \n");

if(any_button()){ break; } //Makes the button more responsive

msleep(200);
console_clear(); //For refreshing the values

}

int final = analog(port); //Set the light off value

while(any_button()){} //Debounce
if((final-initial)>badDifference){ //Check to make sure the values are good.
//If the light is 10% of the way to the ON value, it is a light.
int threshold = (final-initial)*0.1+initial;

/*
This part keeps camera flashes from starting the robot. The 2 second wait is how long my cell phone flash takes. -Zach
*/
while(analog(port)>threshold){
while(analog(port)>threshold){
printf("Waiting for starting light...\n \n");
printf("Light ON Value: %d \n", initial);
printf("Light OFF Value: %d \n", final);
printf("---------------------- \n");
printf("Threshold Value: %d \n \n", threshold);
printf("Current Value: %d <---- \n", analog(port));
msleep(200);
console_clear();

int OK=0, onval, offval, reading, i=0, range;
while (!OK) {
display_printf(0,0,"CALIBRATE: sensor port #%d", light_port);
display_printf(0,1," press 'B' button when light is on");
while(b_button()==0) {
msleep(100);
onval=analog(light_port); // sensor value when light is on
display_printf(0,3," light on value is = %4d ", onval);
}
display_printf(0,3," light on value is = %4d ", onval);
msleep(200);
while (b_button()); // debounce B button
display_printf(0,1," press 'B' button when light is off");
display_printf(0,2," (OFF must exceed ON by at least %d)\n", THRESHOLD);
while (b_button()==0) {
offval=analog(light_port);
display_printf(0,4," light off value is = %4d ", offval);
display_printf(0,5," ---- ");
display_printf(0,6," OFF-ON = %4d ",offval-onval);
msleep(100);
}
offval=analog(light_port); // sensor value when light is off
display_printf(0,4," light off value is = %4d ", offval);
display_printf(0,6," OFF-ON = %4d ", offval-onval);
msleep(200);
if ((offval-onval)>=THRESHOLD) { // bright = small values
OK=1;
display_printf(0,8,"Good Calibration!");
msleep(1000);
graphics_open(CCOLS,CROWS);
graphics_fill(WHITE); // paint screen
range=CCOLS-2*INSET; // inset amount for green bar that follows
graphics_rectangle_fill(INSET,CROWS/2-20,CCOLS-INSET,CROWS/2+20,GREEN);
graphics_circle_fill(INSET,CROWS/2,20,GREEN);
graphics_circle_fill(CCOLS-INSET,CROWS/2,20,GREEN);
graphics_update();
graphics_print_string("READING - ON = ",INSET,30,BLACK,2);
while (1) { // loop until light verified on
colorbar(i++, range); // draw moving red circle
//msleep(20); // alternate for setting red circle speed to DJUMP
reading=analog(light_port);
graphics_rectangle_fill(INSET+210,30,INSET+270,60,WHITE); // erase text
graphics_print_int(reading-onval,1,INSET+210,30,BLACK,2);
if ((reading-onval) < THRESHOLD) { // reading is low enough for light on
msleep(FLASHPAUSE); // pause
reading=analog(light_port); // get second reading to rule out flash
if ((reading-onval) < THRESHOLD) break; // if still low enough, light is on
}
}
graphics_close();
console_clear();
printf("Diagnostics:\n");
printf("OFF: %d, ON: %d, OFF-ON: %d\n", offval, onval, offval-onval);
printf("READ: %d, READ-ON=%d < THRESHOLD=%d\n",reading, reading-onval, THRESHOLD);
printf(" (good enough to recognize lights on)\n");
}
else {
display_printf(0,8,"BAD CALIBRATION");
if (offval<256) {
display_printf(15,8," - Add Shielding!!");
msleep(5000);
}
else {
display_printf(15,8," - Aim sensor!!");
msleep(5000);
}
display_clear();
}
printf("Waiting for starting light...\n \n");
printf("Light ON Value: %d \n", initial);
printf("Light OFF Value: %d \n", final);
printf("---------------------- \n");
printf("Threshold Value: %d \n \n", threshold);
printf("Current Value: %d <---- \n", analog(port));
msleep(2000);
console_clear();
}
return;
}
}

//If the values were too close together
else{


console_clear();
printf("BAD CALIBRATION!!!");
if(final<1000){
printf(" -> Shield Light Sensor. \n");
}
else{
printf(" -> Values are too close.\n");
}
printf(" \n \n Press any button to restart calibration.");
while(!any_button()){} //Wait until they press the button.
}
}}
void colorbar(int i, int range) {
int d, limit;
limit = range/DJUMP; // how far to traverse before reversing
d=i%(int)(2*limit); // scale i to total number of jumps (half forward and half back)
if (d<limit) graphics_circle_fill(INSET+DJUMP*d,CROWS/2,20,RED); // move to right
else graphics_circle_fill(INSET+DJUMP*limit-DJUMP*(d-limit),CROWS/2,20,RED); // move to left
graphics_update();
if (d<limit) graphics_circle_fill(INSET+DJUMP*d,CROWS/2,20,GREEN); // remove circle from next iteration
else graphics_circle_fill(INSET+DJUMP*limit-DJUMP*(d-limit),CROWS/2,20,GREEN);
}