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19.
0b00000,
20.
0b00000,
21.
0b00000,
22.
0b00000,
23.
0b00000,
24.
0b00000,
25.
0b11111,
26.
0b11111,
27.
0b11111,
28.
0b11111,
29.
0b11111,
30.
0b11111,
31.
0b11111
32. };
33.
34.
// This function loads custom characters into the LCD.
35.
// characters can be loaded; we use them for 6 levels of a bar graph
36.
// plus a back arrow and a musical note character.
37. void load_custom_characters()
38. {
39.
lcd_load_custom_character(levels+0,0);
40.
lcd_load_custom_character(levels+1,1);
41.
lcd_load_custom_character(levels+2,2);
42.
lcd_load_custom_character(levels+4,3);
43.
lcd_load_custom_character(levels+5,4);
44.
lcd_load_custom_character(levels+6,5);
45.
clear();
// the LCD must be cleared for the characters to take effect
46. }
47.
48.
// 10 levels of bar graph characters
49. const char bar_graph_characters[10] = {' ',0,0,1,2,3,3,4,5,255};
50.
51. void display_levels(unsigned int *sensors)
52. {
53.
clear();
54.
int i;
55.
for(i=0;i<5;i++) {
56.
// Initialize the array of characters that we will use for the
57.
// graph.
58.
// character, and character 255 (a full black box), we get 10
59.
// characters in the array.
60.
61.
// The variable c will have values from 0 to 9, since
62.
// values are in the range of 0 to 1000, and 1000/101 is 9
63.
// with integer math.
64.
char c = bar_graph_characters[sensors[i]/101];
65.
66.
// Display the bar graph characters.
67.
print_character©;
68.
}
69. }
70.
71.
// set the motor speeds
72. void slave_set_motors(int speed1, int speed2)
73. {
74.
char message[4] = {0xC1, speed1, 0xC5, speed2};
75.
if(speed1 < 0)
76.
{
77.
message[0] = 0xC2;
78.
message[1] = -speed1;
79.
}
80.
if(speed2 < 0)
81.
{
82.
message[2] = 0xC6;
83.
message[3] = -speed2;
84.
}
85.
serial_send_blocking(message,4);
86. }
87.
88.
// do calibration
89. void slave_calibrate()
90. {
91.
serial_send("\xB4",1);
92.
int tmp_buffer[5];
93.
94.
// read 10 characters (but we won't use them)
95.
serial_receive_blocking((char *)tmp_buffer, 10, 100);
96. }
97.
98.
// reset calibration
Using the space, an extra copy of the one-bar
// m1 backward
// m2 backward
Up to 8
// no offset, e.g. one bar
// two bars
// etc...
// skip level 3
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