mshuffle_sensors.ic

/** File: mshuffle_sensors.ic
	Purpose: Subroutines for sensor control and configuration.
			 Light sensors, "headlamp", and knob motor config.
	Parameters: See config.ic
	Author: Gabriel Krell
	Initial commit date: 9/30
**/

int tapeR() {
	return analog(RSENS) < R_THRESH;
}

int tapeL() {
	return analog(LSENS) < L_THRESH;
}

int tapeValL = 0;
int tapeValR = 0;
int offValL = 0;
int offValR = 0;
void sens_config() {light_on();
	 while(!start_button()) {
		 printf("put L over tape\nLSENS = %d",analog(LSENS));
		 sleep(.1);
	 }
	 tapeValL = analog(LSENS);
	 beep();
	 sleep(1.0);
	 
	 while(!start_button()) {
		 printf("take L off tape\nLSENS = %d",analog(LSENS));
		 sleep(.1);}
	 offValL = analog(LSENS);
	 beep();
	 sleep(1.0);
	 
	 while(!start_button()) {
		 printf("put R over tape\nRSENS = %d",analog(RSENS));
		 sleep(.1);
	 }
	 tapeValR = analog(RSENS);
	 beep();
	 sleep(1.0);
	 
	 while(!start_button()) {
		 printf("take R off tape\nRSENS = %d",analog(RSENS));
		 sleep(.1);}
	 offValR = analog(RSENS);
	 beep();
	 sleep(1.0);
	 
	 L_THRESH = (tapeValL+offValL)/2;
	 R_THRESH = (tapeValR+offValR)/2;
	 printf("New thresholds:\nL:%d | R: %d",L_THRESH, R_THRESH);
}

void light_config() {
	while(start_button() || stop_button()) {} // release buttons before pressing
	while(1){
		motor(LIGHT,norm_knob());
		printf("L: %d /R: %d KNOB: %d\n",analog(LSENS),analog(RSENS),norm_knob());
		sleep(0.25);
		if (start_button()) {
			LIGHT_POWER = norm_knob();
			printf("LPOW set to %d",LIGHT_POWER);
			tone(500.0,0.3);
			break;
		}
		if (stop_button()) {
			beep();
			break;
		}
	}
	printf("\n\n");
}


void light_on() {
	motor(LIGHT,LIGHT_POWER);
	LIGHT_STATE = 1;
}

void light_off() {
	off(LIGHT);
	LIGHT_STATE=0;
}

void toggle_light() {
	if (LIGHT_STATE) {
		light_on();
	} else {
		light_off();
	}
	LIGHT_STATE = !LIGHT_STATE;
}

int scrUpdatePID;
int rval;
int confirm_sens(char message[], int sensorPin, int cancellable) {
	int scrUpdatePID = start_process(
									 sens_updates(message, sensorPin),1,250);
	rval = -1;
	while(start_button() || stop_button()) {} // release buttons before pressing
	while(rval==-1){
		if (start_button()) {
			rval = 0;  // continue
			tone(500.0,0.3);
		}
		if (cancellable && stop_button()) {
			rval = 1; // cancel
			beep();
		}
	}
	kill_process(scrUpdatePID);
	return rval;
}

void sens_updates(char message[], int sensorPin) {
	printf(message,analog(sensorPin));
	msleep(500L); // sleep for .5 seconds
	// will hopefully fix the difficult-to-read screen issue
}

int norm_knob() {
	return knob()*100/255; // no casting, much better.
}