Chief Delphi - bool Variables, Autonomous Mode

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lasindi

22-01-2004 03:09

bool Variables, Autonomous Mode

First off, can you declare bool variables? I tried to compile a boolean variable, just because 1 bit is more efficient than wasting a whole byte on a char or 2 on a short.
Second, I looked at ifi_aliases.h in the default code. At the bottom it uses a #define compiler directive to define the macro autonomous_mode. Could anyone show me how to use this? Would you use code like
if(autonomous_mode)
{
/* Do whatever I want the robot to do during autonomous mode. */
}
in the Process_Data_From_Local_IO() function user_routines_fast.c?
Thanks for the help.

lasindi

Astronouth7303

22-01-2004 07:35

Re: bool Variables, Autonomous Mode

First off, you can't just use 1 bit. it has to be in a structure with 7 others. If you want just 1 bool, I would use char and set it to 0 or 255

Travis Hoffman

22-01-2004 07:49

Re: bool Variables, Autonomous Mode

IFI set up a type structure called "bitid" for defining 1-bit variables:

Declare your variable:

bitid statusbyte

Define your macros:

#define gearstatus statusbyte.bit0
#define wingstatus statusbyte.bit1
.
.
.
#define wheeliestatus statusbyte.bit7

Seems to work fine.

Hope this helps.

Guest

22-01-2004 10:00

Re: bool Variables, Autonomous Mode

By default, if you use a char to store "boolean" values, 0 is false and everything else is true. However if you have:

Code:

char boolVal=0;

boolVal=!boolVal;

// boolVal is now 255

Hence, you probably want to #define the following:

Code:

// Put this in a header file that every .c file accesses

typedef char bool;

#define true (char)(255)

#define false (char)(0)

Be sure to watch out for automatic cast of anything below above -1 and below 256 to an unsigned char.

Guest

22-01-2004 10:02

Re: bool Variables, Autonomous Mode

And, there's no such thing as a real boolean variable in C, only in C++.

lasindi

22-01-2004 20:36

Re: bool Variables, Autonomous Mode

Thanks a lot for the help with the boolean variables. Could someone answer my question about using the autonomous_mode macro?

Guest

22-01-2004 22:26

Re: bool Variables, Autonomous Mode

Quote:

Originally Posted by lasindi

Thanks a lot for the help with the boolean variables. Could someone answer my question about using the autonomous_mode macro?

Where to put your auto code:

Code:

/*******************************************************************************

*

* FUNCTION:  User_Autonomous_Code()

*

* PURPOSE:  Executes user's code during autonomous robot operation.

*          You should modify this routine by adding code which you

*         wish to run in autonomous mode. This executes every 26.2ms.

*

* CALLED FROM: main.c/main()

*

* PARAMETERS:  None

*

* RETURNS:  Nothing

* 

*******************************************************************************/

void User_Autonomous_Code(void)

{

  while(autonomous_mode)

  {

        if(statusflag.NEW_SPI_DATA)

        {

                Getdata(&rxdata);   // bad things will happen if you move or delete this

                // autonomous code goes here

                Putdata(&txdata);   //even more bad things will happen if you mess with this

        }

  }

}

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