Hey guys I am very new to C programming but i find it super interesting,
I am currently working on a robot to improve my C skills, I am programming it so that it does not crash(with the help of its IR sensors)
I want to be ableto make the C code i have written cleaner and more proffessional lets say, so far i have packed everything in the main(), all my functions/methods etc.
I want to make header files for each switch case and/or function I have used in the main(). I have watched a few youtube tutorials and some google sites but i do not know how to implement it for my code I have written.
IN ORDER FOR ME TO SHOW YOU WHAT I MEAN I HAVE TO POST THE WHOLE CODE BUT PLEASE HAVE SOME PATIENCE AND READ THROUGH IF YOU GUYS CAN. I know Stackoverflow does not reccommend posting the whole code.
Anyways could you guys help me out? If you guys can show me how i can do that with a few examples I would very much appreciate it.
And if you guys can give me a few pointers on how exactly to comment code that would be nice too. Yes pointers was a pun.
The main.h has all the libraries neccassary for the robot.
#include "main.h"
/**
* The Main
*/
int main() {
sei();
bot_init();
display_init(DISPLAY_TYPE_TXT);
gfx_init();
floor_init();
leds_init();
spi_init();
i2c_init();
/**
* 2 Different states for of the distance sensor
*/
enum new_State
{
OBJECT_DETECTED, NO_OBJECT_DETECTED
};
/**
* There are 5 distance sensors and each of them need a state variable
*/
typedef enum new_State state_t;
state_t state0;
state_t state1;
state_t state2;
state_t state3;
state_t state4;
/**
* The s3 button needs two states
* TRUE = ON
* FALSE = OFF
*/
enum s3_State
{
S3_TRUE, S3_FALSE
};
typedef enum s3_State s3_State;
s3_State s3; /// state of the s3 button
/*
* The following is a distance measuring Function
* The coprozessor needs to be initialized for this because
* the distance measurement is done with the help of the IR sensors
* and the coprozessor handles it
* Function is derived from the HelloDistance example
*/
copro_ir_startMeasure();
/// Text output
///char output[20]= "";
/// Vairbale for storing/ buffering sensor values
int current_distance = 0;
/// Sign for different movement switch cases
int sign = 0;
while (1 == 1)
{
/// Default state of the s3 button
s3 = S3_FALSE;
if (s3_was_pressed())
{
if (s3 == S3_FALSE)
{
s3 = S3_TRUE; /// Switches s3 button ON/TRUE
}
else
{
s3 = S3_FALSE; /// Switches s3 button OFF/FALSE
}
}
while (s3 == S3_TRUE)
{
/**
* When/If the s3 Button is pressed all LEDs MUST
* turn off
*/
if (s3_was_pressed()) {
copro_stop(); /// Stops Coprozessor
leds_set_status(LEDS_OFF, 0);
leds_set_status(LEDS_OFF, 1);
leds_set_status(LEDS_OFF, 2);
leds_set_status(LEDS_OFF, 3);
leds_set_status(LEDS_OFF, 4);
leds_set_status(LEDS_OFF, 5);
leds_set_status(LEDS_OFF, 6);
break;
}
/// initiating the distance sensors
/// output displays the distance from each sensor
char output[20] = "";
sprintf(output, "%3i", current_distance);
gfx_move(25, 25);
gfx_print_text(output);
for(int i = 1; i < 5; i++){
current_distance = copro_distance[i]/256;
///uint8_t distance = nds3_get_dist();
uint8_t distance = copro_ir_startMeasure();
char text[20] = "";
sprintf(text, "Distance: %3i", (int) distance);
gfx_move(0, 0);
gfx_print_text(text);
copro_update();
///current_distance = copro_distance[0] / 256;
}
/**
* A Switch case function for measuring distance
* from each sensor. If distance < 200 then there is no object
* LEDs will stay green if no objects are detected (200 <)
* If the distance between object and sensor > 200 then there is an object near the sensor
* LED will turn RED indicating Object detection
*/
for (int i = 0; i < 5; i++) {
current_distance = copro_distance[i] / 256;
switch (i)
{
case 0:
if (current_distance < 120)
{
state0 = NO_OBJECT_DETECTED;
leds_set_status(LEDS_GREEN, 7);
} else
{
state0 = OBJECT_DETECTED;
leds_set_status(LEDS_RED, 7);
}
break;
case 1:
if (current_distance < 120)
{
state1 = NO_OBJECT_DETECTED;
leds_set_status(LEDS_GREEN, 6);
} else
{
state1 = OBJECT_DETECTED;
leds_set_status(LEDS_RED, 6);
}
break;
case 2:
/*
* Sensors in front need more space
* hence a it needs more distance to react to objects
* Turn left or right
*/
if (current_distance < 100)
{
state2 = NO_OBJECT_DETECTED;
leds_set_status(LEDS_GREEN, 4);
leds_set_status(LEDS_GREEN, 5);
} else
{
state2 = OBJECT_DETECTED;
leds_set_status(LEDS_RED, 4);
leds_set_status(LEDS_RED, 5);
}
break;
case 3:
if (current_distance < 100)
{
state3 = NO_OBJECT_DETECTED;
leds_set_status(LEDS_GREEN, 3);
} else
{
state3 = OBJECT_DETECTED;
leds_set_status(LEDS_RED, 3);
}
break;
case 4:
if (current_distance < 100)
{
state4 = NO_OBJECT_DETECTED;
leds_set_status(LEDS_GREEN, 2);
} else
{
state4 = OBJECT_DETECTED;
leds_set_status(LEDS_RED, 2);
}
break;
}
/*
* If the front sensors do not detect any objects
*/
if (state1 == NO_OBJECT_DETECTED && state2 == NO_OBJECT_DETECTED
&& state3 == NO_OBJECT_DETECTED)
{
/*
* If the path is clear with no objects
* This would indicate sign 0
* The robo will keep going straight
*/
if (sign == 0)
{
copro_setSpeed(14, 14); /// Controlling the speed on both motors L & R
}
/*
* If there are Objects in front and on R or L < 200
* robo will drive backwards
*/
else if (sign == 1)
{
copro_setSpeed(-14, -14);
if (state0 == NO_OBJECT_DETECTED || state4 == NO_OBJECT_DETECTED)
{
sign = 2;
}
}
/*
* sign 2 indicates that the robo is out of the "Deadlock"
* Should avoid "Deadlock"
* robo will find open path
*/
else if (sign == 2)
{
copro_setTargetRel(-200, -200, 20);
delay(1000);
if(state0 == NO_OBJECT_DETECTED)
{
copro_setTargetRel(200, -200, 28);
}
else
{
copro_setTargetRel(-200,200, 28);
}
delay(1000);
sign = 0;
}
}
/*
* OBJECT_DETECTED on R at distance < 200
* robo turns L
*/
else if (state1 == OBJECT_DETECTED && state2 == NO_OBJECT_DETECTED
&& state3 == NO_OBJECT_DETECTED)
{
//copro_stop();
copro_setSpeed(0, 14);
}
/*
* OBJECT_DETECTED on L at distance < 200
* robo turns R
*/
else if (state1 == NO_OBJECT_DETECTED && state2 == NO_OBJECT_DETECTED
&& state3 == OBJECT_DETECTED)
{
//copro_stop();
copro_setSpeed(14, 0);
}
/*
* robo is stuck in a deadlock and can reverse backwards
* signg1 means deadlock
*/
else if (state0 == OBJECT_DETECTED && state2 == OBJECT_DETECTED
&& state4 == OBJECT_DETECTED)
{
sign = 1;
///copro_stop();
copro_setSpeed(-28, -28);
}
/*
* Object In front
* Object on R > 200 robo turns R
* Object on L > 200 robo turns L
* If both are clear? then what ?
*/
else if (state2 == OBJECT_DETECTED)
{
//copro_stop();
if (copro_distance[1] / 256 > 100 || copro_distance[0] / 256 > 100)
{
copro_setSpeed(0, 14);
}
else if(copro_distance[3] / 256 > 100 || copro_distance[4] / 256 > 100)
{
copro_setSpeed(14, 0);
}
else
{
//copro_stop();
copro_setSpeed(0,14);
}
}
}
}
}
}
I would like to once again exaggerate on the fact that I posted all the code because there are several functions withing the function so i need to know how i can make a header file for it.
