Lab 4: Bumpers Functions

/* 

 * File:   BumpersMain.c

 * Author: COSMOS

 *

 * Created on July 25, 2018, 11:18 AM

 */

#include <stdio.h>

#include <stdlib.h>

#include "serial.h"

#include "BOARD.h"

#include "roach.h"

#include "timers.h"

#define INTERVAL 100

#define FL_DOWN 1

#define FR_DOWN 2

#define RL_DOWN 3

#define RR_DOWN 4

/*

 * 

 */

int CheckForBumps(void) {

    static char lastBump;

    char thisBump;

    thisBump = Roach_ReadBumpers();

    if (thisBump != lastBump) {

        lastBump = thisBump;

        return 1;

    } else {

        lastBump = thisBump;

        return 0;

    }

}

int CheckWhichBump(void) {

    static char lastBump;

    char thisBump;

    thisBump = Roach_ReadBumpers();

    if (((thisBump & 0b1) == 1) && ((lastBump & 0b1) == 0)) {

        lastBump = thisBump;

        printf("Front Left Bumper is pressed!");

        return FL_DOWN;

    }

     if (((thisBump & 0b1) == 0) && ((lastBump & 0b1) == 1)) {

        lastBump = thisBump;

         printf("Front Left Bumper is released!");

        return FL_DOWN;

    }

    if ((thisBump & 0b10) != (lastBump & 0b10)) {

        lastBump = thisBump;

        return FR_DOWN;

    }

    if ((thisBump & 0b100) != (lastBump & 0b100)) {

        lastBump = thisBump;

        return 3;

    }

    if ((thisBump & 0b1000) != (lastBump & 0b1000)) {

        lastBump = thisBump;

        return 4;

    } else {

        lastBump = thisBump;

        return 0;

    }

}

void main(void) {

    //Initializations here

    TIMERS_Init();

    SERIAL_Init();

    BOARD_Init();

    Roach_Init();

    while (1) {

        if (1) {

            int bump = CheckWhichBump();

            printf("%d\r\n", bump);

        }

        TIMERS_InitTimer(0, INTERVAL);

        while (TIMERS_IsTimerActive(0));

    }

}

/* ************************************************************************** */

/** Descriptive File Name

  @Company

    Company Name

  @File Name

    filename.c

  @Summary

    Brief description of the file.

  @Description

    Describe the purpose of this file.

 */

/* ************************************************************************** */

/* ************************************************************************** */

/* ************************************************************************** */

/* Section: Included Files                                                    */

/* ************************************************************************** */

/* ************************************************************************** */

/* This section lists the other files that are included in this file.

 */

/* TODO:  Include other files here if needed. */

#include <stdio.h>

#include <stdlib.h>

#include "serial.h"

#include "BOARD.h"

#include "roach.h"

#include "timers.h"

#include "Bumpers.h"

/* ************************************************************************** */

/* ************************************************************************** */

/* Section: File Scope or Global Data                                         */

/* ************************************************************************** */

/* ************************************************************************** */

/*  A brief description of a section can be given directly below the section

    banner.

 */

int CheckForBumps(void) {

    static char lastBump;

    char thisBump;

    thisBump = Roach_ReadBumpers();

    if (thisBump != lastBump) {

        lastBump = thisBump;

        return 1;

    } else {

        lastBump = thisBump;

        return 0;

    }

}

int CheckWhichBump(void) {

    static char lastBump;

    char thisBump;

    thisBump = Roach_ReadBumpers();

    if (((thisBump & 0b0001) == 1) && ((lastBump & 0b0001) == 0)) {

        lastBump = thisBump;

        printf("Front Left Bumper is pressed!\r\n");

        return FL_DOWN;

    }

    if (((thisBump & 0b0001) == 0) && ((lastBump & 0b0001) == 1)) {

        lastBump = thisBump;

        printf("Front Left Bumper is released!\r\n");

        return FL_UP;

    }

    if (((thisBump & 0b0010) == 2) && ((lastBump & 0b0010) == 0)) {

        lastBump = thisBump;

        printf("Front Right Bumper is pressed!\r\n");

        return FR_DOWN;

    }

    if (((thisBump & 0b0010) == 0) && ((lastBump & 0b0010) == 2)) {

        lastBump = thisBump;

        printf("Front Right Bumper is released!\r\n");

        return FR_UP;

    }

    if (((thisBump & 0b0100) == 4) && ((lastBump & 0b0100) == 0)) {

        lastBump = thisBump;

        printf("Rear Left Bumper is pressed!\r\n");

        return RR_DOWN;

    }

    if (((thisBump & 0b0100) == 0) && ((lastBump & 0b0100) == 4)) {

        lastBump = thisBump;

        printf("Rear Left Bumper is released!\r\n");

        return RR_UP;

    }

    if (((thisBump & 0b1000) == 8) && ((lastBump & 0b1000) == 0)) {

        lastBump = thisBump;

        printf("Rear Right Bumper is pressed!\r\n");

        return RR_DOWN;

    }

    if (((thisBump & 0b1000) == 0) && ((lastBump & 0b1000) == 8)) {

        lastBump = thisBump;

        printf("Rear Right Bumper is released!\r\n");

        return RR_UP;

    } else {

        lastBump = thisBump;

        return 0;

    }

}

/* ************************************************************************** */

/** Descriptive Data Item Name

  @Summary

    Brief one-line summary of the data item.

  @Description

    Full description, explaining the purpose and usage of data item.

    <p>

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    paragraph breaks, as necessary.

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  @Remarks

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 */

/* ************************************************************************** */

/* ************************************************************************** */

// Section: Local Functions                                                   */

/* ************************************************************************** */

/* ************************************************************************** */

/*  A brief description of a section can be given directly below the section

    banner.

 */

/* ************************************************************************** */

/** 

  @Function

    int ExampleLocalFunctionName ( int param1, int param2 ) 

  @Summary

    Brief one-line description of the function.

  @Description

    Full description, explaining the purpose and usage of the function.

    <p>

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    paragraph breaks, as necessary.

    <p>

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    enter "None."

  @Parameters

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  @Returns

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    <ul>

      <li>1   Indicates an error occurred

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    </ul>

  @Remarks

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    <p>

    Any additional remarks.

  @Example

    @code

    if(ExampleFunctionName(1, 2) == 0)

    {

        return 3;

    }

 */

/* ************************************************************************** */

/* ************************************************************************** */

// Section: Interface Functions                                               */

/* ************************************************************************** */

/* ************************************************************************** */

/*  A brief description of a section can be given directly below the section

    banner.

 */

// *****************************************************************************

/** 

  @Function

    int ExampleInterfaceFunctionName ( int param1, int param2 ) 

  @Summary

    Brief one-line description of the function.

  @Remarks

    Refer to the example_file.h interface header for function usage details.

 */

/* *****************************************************************************

 End of File

 */