diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/main.cpp | 49 |
1 files changed, 38 insertions, 11 deletions
diff --git a/src/main.cpp b/src/main.cpp index 9d60f96..56ea47c 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -9,6 +9,7 @@ #include <WiFi.h>
#include <WiFiUdp.h>
+#include "esp32-hal.h"
#include "settings.h"
#include "motors.h"
#include "rgb.h"
@@ -27,7 +28,8 @@ enum RobotEmotion { E_NEUTRAL,
E_HAPPY,
E_SAD,
- E_ANGRY
+ E_ANGRY,
+ E_CURIOUS
};
volatile RobotEmotion currentState = E_NEUTRAL;
@@ -36,9 +38,8 @@ volatile RobotEmotion currentState = E_NEUTRAL; volatile int fatigueLevel = 0;
volatile bool isTired = false;
-
volatile int sleepTimer = 0;
-volatile bool isSleepy = false;
+volatile bool isSleepy = true;
volatile char manualMotors = '0';
volatile char manualRGB = '0';
@@ -92,13 +93,16 @@ void wifiTask(void * pvParameters) { if (cmd == 'H') { currentState = E_HAPPY; emotionStartTime = millis(); manualMotors = '0'; }
else if (cmd == 'S') { currentState = E_SAD; emotionStartTime = millis(); manualMotors = '0'; }
else if (cmd == 'A') { currentState = E_ANGRY; emotionStartTime = millis(); manualMotors = '0'; }
+ else if (cmd == 'C') { currentState = E_CURIOUS; emotionStartTime = millis(); manualMotors = '0'; }
else if (cmd == 'N') { currentState = E_NEUTRAL; emotionStartTime = millis(); manualMotors = '0'; }
else if (cmd == 'M') { currentState = MANUAL; manualMotors = '0'; }
}
}
if (currentState != MANUAL) {
- if (millis() - emotionStartTime >= EMOTION_DURATION_MS) {
+ unsigned long limit = (currentState == E_CURIOUS) ? 5000 : EMOTION_DURATION_MS;
+
+ if (millis() - emotionStartTime >= limit) {
currentState = MANUAL;
manualMotors = '0';
manualRGB = '0';
@@ -175,19 +179,29 @@ void oledTask(void * pvParameters) { switch(currentState) {
case E_HAPPY:
+ roboEyes.setCuriosity(OFF);
roboEyes.setMood(HAPPY);
break;
+ case E_CURIOUS:
+ roboEyes.setCuriosity(ON);
+ roboEyes.setIdleMode(ON, 1, 1);
+ break;
case E_SAD:
+ roboEyes.setCuriosity(OFF);
roboEyes.setMood(TIRED);
break;
case E_ANGRY:
+ roboEyes.setCuriosity(OFF);
roboEyes.setMood(ANGRY);
break;
default:
+ roboEyes.setCuriosity(OFF);
+ roboEyes.setIdleMode(ON,2,2);
roboEyes.setMood(DEFAULT);
break;
- }
+ }
}
+
roboEyes.setSweat(isTired);
if (isSleepy != wasSleepy) {
@@ -218,10 +232,11 @@ void rgbTask(void * pvParameters) { for(;;) {
if (currentState != lastAction) {
switch(currentState) {
- case E_HAPPY: rgb.fadeColor(255, 250, 0, 500); break;
- case E_SAD: rgb.fadeColor(118, 116, 237, 500); break;
- case E_ANGRY: rgb.fadeColor(255, 0, 0, 500); break;
- default: rgb.fadeColor(0, 0, 0, 500); break;
+ case E_HAPPY: rgb.fadeColor(255, 250, 0, 300); break;
+ case E_SAD: rgb.fadeColor(118, 116, 237, 300); break;
+ case E_CURIOUS: rgb.setColorRGB(0, 0, 255, 300); break;
+ case E_ANGRY: rgb.fadeColor(255, 0, 0, 300); break;
+ default: rgb.fadeColor(0, 0, 0, 300); break;
}
lastAction = currentState;
}
@@ -246,6 +261,9 @@ void rgbTask(void * pvParameters) { rgb.setBrightness(40);
rgb.rainbowCycle(1000, 2);
break;
+ case E_CURIOUS:
+ rgb.setBrightness(80);
+ break;
case E_SAD:
rgb.setBrightness(40);
break;
@@ -281,9 +299,18 @@ void motorsTask(void * pvParameters) { motors.leftTurn(100, 130);
motors.rightTurn(100, 130);
break;
+ case E_CURIOUS:
+ motors.leftTurn(100, 150);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ motors.rightTurn(100, 300);
+ vTaskDelay(2500 / portTICK_PERIOD_MS);
+ motors.leftTurn(100, 150);
+ motors.stop();
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ break;
case E_ANGRY:
- motors.forward(100, 130);
- motors.backward(100, 130);
+ motors.forward(100, 80);
+ motors.backward(100, 80);
break;
default:
motors.stop();
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