Lab 2: Bumpers Exploration

/* 

 * File:   bumpSensorsMain.c

 * Author: COSMOS

 *

 * Created on July 18, 2018, 11:31 AM

 */

#include <stdio.h>

#include <stdlib.h>

#include "serial.h"

#include "BOARD.h"

#include "roach.h"

#include "timers.h"

/*

 * 

 */

int main(int argc, char** argv) {

    SERIAL_Init();

    BOARD_Init();

    Roach_Init();

    TIMERS_Init();

    while (1) {

        int whichBump = Roach_ReadBumpers();

        printf("%d", whichBump);

        while (whichBump == 0);

    }

    /*while (1)

        while (1) {

            if (Roach_ReadFrontLeftBumper() != 0) {

                Roach_LEDSSet(0b000000000001);

                break;

            }

            if (Roach_ReadFrontRightBumper() != 0) {

                Roach_LEDSSet(0b000000001000);

                break;

            }

            if (Roach_ReadRearLeftBumper() != 0) {

                Roach_LEDSSet(0b000100000000);

                break;

            }

            if (Roach_ReadRearRightBumper() != 0) {

                Roach_LEDSSet(0b100000000000);

                break;

            }

        }*/

    //printf("Hello World!");

    while (1);

    return (EXIT_SUCCESS);

}

/* 

 * File:   BumpersMain.c

 * Author: COSMOS

 *

 * Created on July 17, 2018, 10:54 AM

 */

#include <stdio.h>

#include <stdlib.h>

#include "serial.h"

#include "BOARD.h"

#include "roach.h"

#include "timers.h"

#define BUMPER_TRIPPED 1

#define BUMPER_NOT_TRIPPED 0

#define TIMER_A 0

#define TIMER_B 1

#define TIMER_C 2

#define TIMER_D 3

/*

 * 

 */

int main(void) {

    SERIAL_Init();

    BOARD_Init();

    Roach_Init();

    TIMERS_Init();

    char frontRightBumpCounter = 0;

    char lastFrontRightBump = BUMPER_NOT_TRIPPED;

    char thisFrontRightBump;

    char lastLastFrontRightBump;

    char lastFrontLeftBump;

    char thisFrontLeftBump;

    char lastLastFrontLeftBump;

    char lastRearLeftBump;

    char thisRearLeftBump;

    char lastLastRearLeftBump;

    char lastRearRightBump;

    char thisRearRightBump;

    char lastLastRearRightBump;

    //    TIMERS_InitTimer(TIMER_A, 10);

    TIMERS_InitTimer(TIMER_B, 10);

    TIMERS_InitTimer(TIMER_C, 10);

    TIMERS_InitTimer(TIMER_D, 10);

    lastLastRearRightBump = lastRearRightBump;

    lastRearRightBump = thisRearRightBump;

    lastLastRearLeftBump = lastRearLeftBump;

    lastRearLeftBump = thisRearLeftBump;

    lastLastFrontLeftBump = lastFrontLeftBump;

    lastFrontLeftBump = thisFrontLeftBump;

    lastLastFrontRightBump = lastFrontRightBump;

    lastFrontRightBump = thisFrontRightBump;

    while (1) {

        thisFrontRightBump = Roach_ReadFrontRightBumper();

        thisFrontLeftBump = Roach_ReadFrontLeftBumper();

        thisRearLeftBump = Roach_ReadRearLeftBumper();

        thisRearRightBump = Roach_ReadRearRightBumper();

        if (thisFrontRightBump != lastFrontRightBump) {

            frontRightBumpCounter = 0;

            TIMERS_InitTimer(TIMER_A, 10);

        }

        if (TIMERS_IsTimerExpired(TIMER_A)) {

            frontRightBumpCounter++;

            TIMERS_InitTimer(TIMER_A, 10);

            lastLastFrontRightBump = lastFrontRightBump;

            lastFrontRightBump = thisFrontRightBump;

            thisFrontRightBump = Roach_ReadFrontRightBumper();

        }

        if ((thisFrontRightBump == BUMPER_TRIPPED)&&(lastFrontRightBump == BUMPER_TRIPPED)&&(lastLastFrontRightBump == BUMPER_TRIPPED)&&(frontRightBumpCounter > 3)) {

            frontRightBumpCounter = 0;

            printf("Front right bumper pressed!\r\n");

        }

//        if (thisFrontLeftBump != lastFrontLeftBump) {

//            int i;

//            for (i = 0; i < 5; i++) {

//                lastLastFrontLeftBump = lastFrontLeftBump;

//                lastFrontLeftBump = thisFrontLeftBump;

//                thisFrontLeftBump = Roach_ReadFrontLeftBumper();

//                TIMERS_InitTimer(TIMER_B, 10);

//                while (!TIMERS_IsTimerExpired(TIMER_B));

//            }

//            if ((thisFrontLeftBump == BUMPER_TRIPPED)&&(lastFrontLeftBump == BUMPER_TRIPPED)&&(lastLastFrontLeftBump == BUMPER_TRIPPED)) {

//                printf("Front left bumper pressed!\r\n");

//            }

//        }

//        if (thisRearLeftBump != lastRearLeftBump) {

//            int i;

//            for (i = 0; i < 5; i++) {

//                lastLastRearLeftBump = lastRearLeftBump;

//                lastRearLeftBump = thisRearLeftBump;

//                thisRearLeftBump = Roach_ReadRearLeftBumper();

//                TIMERS_InitTimer(TIMER_C, 10);

//                while (!TIMERS_IsTimerExpired(TIMER_C));

//            }

//            if ((thisRearLeftBump == BUMPER_TRIPPED)&&(lastRearLeftBump == BUMPER_TRIPPED)&&(lastLastRearLeftBump == BUMPER_TRIPPED)) {

//                printf("Rear left bumper pressed!\r\n");

//            }

//        }

//        if (thisRearRightBump != lastRearRightBump) {

//            int i;

//            for (i = 0; i < 5; i++) {

//                lastLastRearRightBump = lastRearRightBump;

//                lastRearRightBump = thisRearRightBump;

//                thisRearRightBump = Roach_ReadRearRightBumper();

//                TIMERS_InitTimer(TIMER_D, 10);

//                while (!TIMERS_IsTimerExpired(TIMER_D));

//            }

//            if ((thisRearRightBump == BUMPER_TRIPPED)&&(lastRearRightBump == BUMPER_TRIPPED)&&(lastLastRearRightBump == BUMPER_TRIPPED)) {

//                printf("Rear right bumper pressed!\r\n");

//            }

//        }

    }

    /*if (Roach_ReadRearRightBumper() == BUMPER_TRIPPED) {

            printf("Rear right bumper pressed");

    }

    if (Roach_ReadFrontLeftBumper() == BUMPER_TRIPPED) {

            printf("Front left bumper pressed");

    }

    if (Roach_ReadRearLeftBumper() == BUMPER_TRIPPED) {

            printf("Rear left bumper pressed");           

    }*/

    //check bumpers

    /*thisBump = Roach_ReadBumpers();

    if (thisBump != lastBump) {

        printf("Bump=%X\n", thisBump);

    }

    lastBump = thisBump;

    //wait for 0.1 second:

    TIMERS_InitTimer(0, 100);

    while (TIMERS_IsTimerActive(0));*/

    return (EXIT_SUCCESS);

}