RobotC Computer Code

Spring 2015 Program Code in RobotC

////////////////////////////////////////////////////////////////////////////////
//
// Menu System Primitives
//
////////////////////////////////////////////////////////////////////////////////
bool robotPaused;
#define MAX_MENU_ITEMS  30
typedef enum ProgramMenuItem { RED_FUNCTION, ORANGE_FUNCTION, YELLOW_FUNCTION, GREEN_FUNCTION, BLUE_FUNCTION, INDIGO_FUNCTION, VIOLET_FUNCTION, ULTRAVIOLET_FUNCTION, TERMINATOR_FUNCTION };
typedef struct genericMenuItem_struct {
	string prompt;
	ProgramMenuItem value;
} genericMenuItem;
typedef struct genericMenu_struct {
	genericMenuItem items[MAX_MENU_ITEMS];
	string name;
	string header;
	int lastMenuItem;
  int scrollTopMenuItem;
  int cursorAtMenuItem;
  int selectedItem;
  bool returnNow;
  bool terminateNow;
} menuObj;
menuObj menu;
void newMenu(string *promptStr) {
  menu.lastMenuItem=0;
  menu.scrollTopMenuItem = 0;
  menu.cursorAtMenuItem = 0;
  menu.selectedItem = 0;
  menu.name = *promptStr;
  menu.header = "-- Missions --";
  menu.returnNow = false;
  menu.terminateNow = false;
}
void addMenuItem(string *promptStr, ProgramMenuItem retVal) {
	menu.items[menu.lastMenuItem].prompt = *promptStr;
	menu.items[menu.lastMenuItem].value = retVal;
  menu.lastMenuItem++;
}

void showMenu() {
	eraseDisplay();
  menu.returnNow = false;              // This has to be reset so that once a selection is made, the robot will execute it
	robotPaused = false;
  displayTextLine(0, "%s", menu.name);
  displayTextLine(1, "%s", menu.header);
  int cdLine = 0;
  for(cdLine = 0; cdLine < 6; cdLine++) {
    displayTextLine((cdLine+2), " %s", menu.items[cdLine+menu.scrollTopMenuItem].prompt);
  }
}

void showCursor(int menuItemNum) {
	int putOnLine = (menuItemNum - menu.scrollTopMenuItem) + 2;
	displayTextLine(putOnLine, ">%s", menu.items[menuItemNum].prompt);
}
void adjustMenuItem(const bool bIncrement) {
  if(bIncrement)
  {
    menu.cursorAtMenuItem = ++menu.cursorAtMenuItem % menu.lastMenuItem;
    menu.scrollTopMenuItem = (menu.cursorAtMenuItem >= menu.scrollTopMenuItem+6) ? ++menu.scrollTopMenuItem: ((menu.cursorAtMenuItem==0)? 0: menu.scrollTopMenuItem);
  }
  else
  {
    menu.cursorAtMenuItem = --menu.cursorAtMenuItem % menu.lastMenuItem;
    menu.cursorAtMenuItem = (menu.cursorAtMenuItem < 0) ? (menu.lastMenuItem-1): menu.cursorAtMenuItem;
    menu.scrollTopMenuItem = (menu.cursorAtMenuItem < menu.scrollTopMenuItem) ? ((menu.scrollTopMenuItem>0)?--menu.scrollTopMenuItem : 0) : ((menu.cursorAtMenuItem >= menu.scrollTopMenuItem+6) ? menu.cursorAtMenuItem-5: menu.scrollTopMenuItem);
  }
  showMenu();
  string tempString = "";
  switch(menu.cursorAtMenuItem)
		{
			case 0: 	tempString = "Red.rso"; break;
			case 1: 	tempString = "Orange.rso"; break;
			case 2: 	tempString = "Yellow.rso"; break;
			case 3: 	tempString = "Sorry.rso"; 	break;
		}
  playSoundFile(tempString);
  showCursor(menu.cursorAtMenuItem);
  sleep(200);
}

int startShowingTheMenu(int menuStartsAt)
{
	playSoundFile("Hello.rso");
  SensorType[S3] = sensorLightInactive;    // Make sure you turn the light 'off'
  SensorType[S2] = sensorLightInactive;    // Make sure you turn the light 'off'
  menu.cursorAtMenuItem = menuStartsAt;
  showCursor(menu.cursorAtMenuItem);
  sleep(1000);
	robotPaused = true;

	while(nNxtButtonPressed != kEnterButton) { // Wait Here
		switch(nNxtButtonPressed)
		{
			case kLeftButton: 	adjustMenuItem(false); 	break;
			case kEnterButton: 	displayCenteredBigTextLine(4, "Enter"); break;
			case kRightButton: 	adjustMenuItem(true); break;
			case kExitButton: 	displayCenteredBigTextLine(4, "Exit"); 	break;
		}
    sleep(100);
  }
	robotPaused = false;
  SensorType[S3] = sensorLightActive;
  SensorType[S2] = sensorLightActive;
  playSoundFile("! Blips 07.rso");
  sleep(1000);
  SensorType[S3] = sensorLightInactive;    // Make sure you turn the light 'off'
  SensorType[S2] = sensorLightInactive;    // Make sure you turn the light 'off'
  eraseDisplay();
  menu.returnNow = false;              // This has to be reset so that once a selection is made, the robot will execute it
  return menu.cursorAtMenuItem;
}
int startMenu() {
	return startShowingTheMenu(0);
}
int startMenu(int menuStartsAt) {
	return startShowingTheMenu(menuStartsAt - 1);  // This is a zero offset parameter
}

////////////////////////////////////////////////////////////////////////////////
//
// Menu System Usage
//
////////////////////////////////////////////////////////////////////////////////
/*----
  //The menu is stored in an array structure.  The syntax for creating menu items is as follows:

  menu[lastMenuItem] = addMenuItem("Calibrate Light", FUNCTION_1);
  menu[lastMenuItem] = addMenuItem("Round the Track", FUNCTION_6);
  menu[lastMenuItem] = addMenuItem("Drive To Center", FUNCTION_2);

  showMenu();  // The menu is shown
  selectedItem = startMenu();  // An item is selected

  switch (menu[selectedItem])  // Now switch based on the menu value of the selected item
  {
  case FUNCTION_1: calibrate(); break;  // With a break, only this function will be executed.
  case FUNCTION_6: roundTrack();        // Without a break, every subsequent function will be executed.
  case FUNCTION_2: toCenter();
  case FUNCTION_3: locateOtherRobot();
  case FUNCTION_4: crash();
  }

-----*/