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Merge pull request #60 from parallaxinc/master
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Update BlocklyProp branch
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@paragitadmin
paragitadmin authored Dec 26, 2016
2 parents b40435a + 75fab4f commit fa7dda4
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Showing 2 changed files with 43 additions and 107 deletions.
Binary file modified Learn/Simple Libraries/Robotics/S3/libs3/cmm/libs3.a
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150 changes: 43 additions & 107 deletions Learn/Simple Libraries/Robotics/S3/libs3/s3.c
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Original file line number Diff line number Diff line change
Expand Up @@ -85,9 +85,6 @@ static int32_t s3_readBarWidth();
s3 S3;
s3 *self;

// Serial : "FullDuplexSerial"
// ServoDriver : "Servo32v7"
// ---[Start of Program]---------------------------------------------------------
void s3_setup()
{
self = &S3;
Expand All @@ -103,17 +100,6 @@ void s3_setup()
_waitcnt((CNT + 10000000));
}

/*
Pub SerialStart(BaudRate)
Serial.Start(31, 30, 0, BaudRate)
waitcnt(80_000_000 + cnt)
*/
/*
Pub ServoStart
ServoDriver.Start
*/
static void s3_obstacler()
{
int32_t side, ObstacleThld;
Expand Down Expand Up @@ -376,37 +362,38 @@ int32_t s3_readObstacle(int32_t Side)
int32_t s3_simpleObstacle(int32_t Condition, int32_t Location)
{
int32_t result = 0;
char obsL, obsR;

if ((Condition == S3_IS) || (Condition == S3_IS_NOT)) {
self->WasObs[S3_LEFT] = self->obs[S3_LEFT];
self->WasObs[S3_RIGHT] = self->obs[S3_RIGHT];
}
if ((Condition == S3_IS) || (Condition == S3_WAS)) {
result = -1;
}
obsL = self->obs[S3_LEFT];
obsR = self->obs[S3_RIGHT];

self->WasObs[S3_LEFT] = obsL;
self->WasObs[S3_RIGHT] = obsR;

} else if ((Condition == S3_WAS) || (Condition == S3_WAS_NOT)) {
obsL = self->WasObs[S3_LEFT];
obsR = self->WasObs[S3_RIGHT];
}

switch(Location) {
case S3_CENTER:
if ((self->WasObs[S3_LEFT]) && (self->WasObs[S3_RIGHT])) {
return result;
}
break;
case S3_LEFT:
if ((self->WasObs[S3_LEFT]) && (!(self->WasObs[S3_RIGHT]))) {
return result;
}
break;
case S3_RIGHT:
if ((!(self->WasObs[S3_LEFT])) && (self->WasObs[S3_RIGHT])) {
return result;
}
break;
case S3_DETECTED:
if ((self->WasObs[S3_LEFT]) || (self->WasObs[S3_RIGHT])) {
return result;
}
break;
case S3_CENTER:
if (obsL && obsR) result = 1;
break;
case S3_LEFT:
if (obsL && !obsR) result = 1;
break;
case S3_RIGHT:
if (obsR && !obsL) result = 1;
break;
case S3_DETECTED:
if (obsL || obsR) result = 1;
break;
}
!(result);
return result;

if ((Condition == S3_WAS_NOT) || (Condition == S3_IS_NOT)) result = !result;

return result;
}

int32_t s3_lineSensor(int32_t Side)
Expand All @@ -429,39 +416,37 @@ int32_t s3_simpleLine(int32_t Condition, int32_t Location, int32_t Color)
self->WasLine[S3_LEFT] = scribbler_line_sensor(S3_LEFT, (-1));
self->WasLine[S3_RIGHT] = scribbler_line_sensor(S3_RIGHT, (-1));
}
if ((Condition == S3_IS) || (Condition == S3_WAS)) {
result = -1;
}
if ((abs((self->WasLine[S3_LEFT] - self->WasLine[S3_RIGHT]))) < 30) {
// Low difference, not on an edge
if ((self->WasLine[S3_LEFT] + self->WasLine[S3_RIGHT]) < 60) {
// Average reading is dark
if ((Color == S3_BLACK) && ((Location == S3_CENTER) || (Location == S3_DETECTED))) {
return result;
result = 1;
}
} else {
if ((Color == S3_WHITE) && ((Location == S3_CENTER) || (Location == S3_DETECTED))) {
// Average reading is light
return result;
result = 1;
}
}
} else {
// Over an edge
if (Location == S3_DETECTED) {
return result;
result = 1;
} else {
if ((self->WasLine[S3_LEFT] > self->WasLine[S3_RIGHT]) && (((Location == S3_LEFT) && (Color == S3_BLACK)) || ((Location == S3_RIGHT) && (Color == S3_WHITE)))) {
// Left is brighter
return result;
result = 1;
} else {
if ((self->WasLine[S3_RIGHT] > self->WasLine[S3_LEFT]) && (((Location == S3_LEFT) && (Color == S3_WHITE)) || ((Location == S3_RIGHT) && (Color == S3_BLACK)))) {
// Right is brighter
return result;
result = 1;
}
}
}
}
!(result);
if ((Condition == S3_IS_NOT) || (Condition == S3_WAS_NOT)) result = !result;

return result;
}

Expand All @@ -481,31 +466,29 @@ int32_t s3_simpleLight(int32_t Condition, int32_t Location)
self->WasLight[S3_RIGHT] = scribbler_light_sensor(S3_RIGHT);
self->WasLight[S3_CENTER] = scribbler_light_sensor(S3_CENTER);
}
if ((Condition == S3_IS) || (Condition == S3_WAS)) {
result = -1;
}
if (((self->WasLight[S3_LEFT] > (self->WasLight[S3_RIGHT] + 50)) && (self->WasLight[S3_LEFT] > (self->WasLight[S3_CENTER] + 50))) || ((self->WasLight[S3_LEFT] > ((self->WasLight[S3_RIGHT] * 3) / 2)) && (self->WasLight[S3_LEFT] > ((self->WasLight[S3_CENTER] * 3) / 2)))) {
if (Location == S3_LEFT) {
return result;
result = 1;
}
} else {
if (((self->WasLight[S3_RIGHT] > (self->WasLight[S3_LEFT] + 50)) && (self->WasLight[S3_RIGHT] > (self->WasLight[S3_CENTER] + 50))) || ((self->WasLight[S3_RIGHT] > ((self->WasLight[S3_LEFT] * 3) / 2)) && (self->WasLight[S3_RIGHT] > ((self->WasLight[S3_CENTER] * 3) / 2)))) {
if (Location == S3_RIGHT) {
return result;
result = 1;
}
} else {
if (((self->WasLight[S3_CENTER] > (self->WasLight[S3_LEFT] + 50)) && (self->WasLight[S3_CENTER] > (self->WasLight[S3_RIGHT] + 50))) || ((self->WasLight[S3_CENTER] > ((self->WasLight[S3_LEFT] * 3) / 2)) && (self->WasLight[S3_CENTER] > ((self->WasLight[S3_RIGHT] * 3) / 2)))) {
if (Location == S3_CENTER) {
return result;
result = 1;
}
} else {
if ((Location == S3_DETECTED) && (((self->WasLight[S3_LEFT] + self->WasLight[S3_CENTER]) + self->WasLight[S3_RIGHT]) > 50)) {
return result;
result = 1;
}
}
}
}
!(result);
if ((Condition == S3_IS_NOT) || (Condition == S3_WAS_NOT)) result = !result;

return result;
}

Expand Down Expand Up @@ -646,38 +629,6 @@ int32_t s3_runWithoutResult(int32_t input)
return input;
}

/*
Pub SerialStr(StringPointer)
Serial.Str(StringPointer)
Pub SerialDec(Number)
Serial.Dec(Number)
Pub SerialChar(Character)
Serial.Tx(Character)
Pub SerialPositionX(Position)
Serial.Tx(PX)
Serial.Tx(Position)
Pub SerialPositionY(Position)
Serial.Tx(PY)
Serial.Tx(Position)
Pub SerialCharIn
return Serial.RxCheck
*/
int32_t s3_ping(int32_t Pin)
{
int32_t MaxLoops, StartCnt, EndCnt;
Expand Down Expand Up @@ -712,19 +663,4 @@ int32_t s3_ping(int32_t Pin)
return 0;
}
return result;
}

/*
Pub Servo(Pin, Angle)
ifnot 0 =< Pin and Pin =< 5
return 0
Angle := (0 #> Angle <# 180) * 2_000 / 180 + 500
ServoDriver.Set(Pin, Angle)
Pub ServoStop(Pin)
ServoDriver.Set(Pin, 0)
*/
}

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