-- TI Innovator Init Values

platform.apilevel = '2.7'
local screen = platform.window
local date = "060317"

require 'color'
pcall(function() require 'asi' end)

local hubStrOn, hubStrOff, msgStr, rxValue, timeStr, bump, repeats, time_step, delay, help
local list1, list2, index, dataList = {}, {}, {}, {}
var.store("index", index)
var.store("dataList", dataList)
local fontSize = 20

local robotConnected = false
local bump = 0
local orient = var.recall("orient") or 0
local time_step = var.recall("time_step") or 0.5
local runTime = var.recall("runtime") or 10
local runtimeStr = "Run Time: "..runTime
local robotSpeed = var.recall("speed") or 75
local speedStr = "Robot Speed: "..robotSpeed
local autoMin = 5
local autoMax = 20

var.monitor("speed")
var.monitor("runtime")
var.monitor("time_step")
var.monitor("automin")
var.monitor("automax")
var.monitor("hubstr")
var.monitor("orient")

function on.varChange(varList)

orient = var.recall("orient") or 0 robotSpeed = var.recall("speed") or 75
speedStr = "Robot Speed: "..robotSpeed
runTime = var.recall("runtime") or 10
runtimeStr = "Run Time: "..runTime
time_step = var.recall("time_step") or 0.5
autoMin = var.recall("automin") or 5
autoMax = var.recall("automax") or 20
hubStrOn = string.upper(var.recall("hubstr")) or ''
if hubStrOn:find("ON") then

hubStrOff = hubStrOn:gsub("ON","OFF")
TI_Innovator.Send(hubStrOn)
addMsg(hubStrOn)

else

hubStrOff = ''
TI_Innovator.Send(hubStrOn)
addMsg(hubStrOn)
if hubStrOn:find("READ") then TI_Innovator.Read() end

end
screen:invalidate()

end

function addMsg(input)

msgStr = input
print(msgStr)
screen:invalidate()

end

function on.construction()

--the next three lines are required for Hub connection
TI_Innovator.init(TI_InnovatorStateCallback)
TI_Innovator.setReadListener(TI_InnovatorReadCallback)
TI_Innovator.connect()

Menu={

{"About",

{" ©2017 Compass Learning Technologies", function() end},
{" Version "..date, function() end},
{" Contact: steve@compasstech.com.au ", function() end},
{" Help?", function() on.help() end},

},
{"Controls",

{"Scan and Connect", function() TI_Innovator.connect() end},
{"Disconnect", function() TI_Innovator.disconnect() on.resize() end},
{"RESET", function() on.resize() end},

},
{"SET Samples",
{"SET LIGHT ON/OFF (default)", function() hubStrOn = "SET LIGHT ON" hubStrOff = "SET LIGHT OFF" TI_Innovator.Send(hubStrOn) addMsg(hubStrOn) rxValue = "Press mouse down to toggle light" end},
{"SET COLOR.RED ON/OFF", function() hubStrOn = "SET COLOR.RED ON" hubStrOff = "SET COLOR.RED OFF" TI_Innovator.Send(hubStrOn) addMsg(hubStrOn) rxValue = "Press mouse down to toggle red LED" end},
{"SET COLOR.GREEN ON/OFF", function() hubStrOn = "SET COLOR.GREEN ON" hubStrOff = "SET COLOR.GREEN OFF" TI_Innovator.Send(hubStrOn) addMsg(hubStrOn) rxValue = "Press mouse down to toggle green LED" end},
{"SET COLOR.BLUE ON/OFF", function() hubStrOn = "SET COLOR.BLUE ON" hubStrOff = "SET COLOR.BLUE OFF" TI_Innovator.Send(hubStrOn) addMsg(hubStrOn) rxValue = "Press mouse down to toggle blue LED" end},
{"SET SOUND 220 1", function() hubStrOn = "SET SOUND 220 1" hubStrOff = "SET SOUND 0 1" TI_Innovator.Send(hubStrOn) addMsg(hubStrOn) rxValue = "Press mouse down to repeat sound" end},
{'_________________', function() end},
{"SET SPEAKER 1 220 5", function() hubStrOn = "SET SPEAKER 1 220 5" TI_Innovator.Send("CONNECT SPEAKER 1 OUT1") TI_Innovator.Send(hubStrOn) hubStrOff = "SET SPEAKER 1 0 1" rxValue = "Press mouse down to toggle speaker" end},
{"SET LED 1 ON", function() hubStrOn = "SET LED 1 ON" TI_Innovator.Send("CONNECT LED 1 OUT1") TI_Innovator.Send(hubStrOn) hubStrOff = "SET LED 1 0FF" rxValue = "Press mouse down to toggle LED" end},
{"SET SERVO 1 CW 50 5 (OUT3)", function() TI_Innovator.Send("CONNECT SERVO 1 OUT3") hubStrOn = "SET SERVO 1 CW 50 5" hubStrOff = "SET SERVO 1 CW 50 0" rxValue = "Press mouse down to toggle servo" end},
{"SET ANALOG.OUT 1 100", function() hubStrOn = "SET ANALOG.OUT 1 100" TI_Innovator.Send("CONNECT ANALOG.OUT 1 OUT1") TI_Innovator.Send(hubStrOn) hubStrOff = "SET ANALOG.OUT 1 0" rxValue = "Press mouse down to toggle analog read" end},
{"SET DIGITAL.OUT 1 ON", function() hubStrOn = "SET DIGITAL.OUT 1 ON" TI_Innovator.Send("CONNECT DIGITAL.OUT 1 OUT1") TI_Innovator.Send(hubStrOn) hubStrOff = "SET DIGITAL.OUT 1 0FF" rxValue = "Press mouse down to toggle digital read" end},
},
{"READ Samples",

{'Norland Battery Check (b)', function() batteryCheck() end},
{"READ BRIGHTNESS", function() hubStrOn = "READ BRIGHTNESS" TI_Innovator.Send(hubStrOn) TI_Innovator.Read() timeStr = "Press mouse down to take fresh reading" end},
{'_________________', function() end},
{"READ RANGER 1", function() hubStrOn = "READ RANGER 1" TI_Innovator.Send("CONNECT RANGER 1 IN1") math.eval("wait(0.5)") TI_Innovator.Send(hubStrOn) TI_Innovator.Read() hubStrOff = '' timeStr = "Press mouse down to take fresh reading" end},
{"READ DHT 1", function() hubStrOn = "READ DHT 1" TI_Innovator.Send("CONNECT DHT 1 IN1") TI_Innovator.Send(hubStrOn) TI_Innovator.Read() hubStrOff = '' driver = "DHT 1" timeStr = "Press mouse down to take fresh reading" end},
{"READ BAROMETER", function() hubStrOn = "READ BAROMETER" TI_Innovator.Send("CONNECT BAROMETER I2C") TI_Innovator.Send(hubStrOn) TI_Innovator.Read() hubStrOff = '' timeStr = "Press mouse down to take fresh reading" end},
{"READ ACCEL 1", function() hubStrOn = "READ ACCEL 1" TI_Innovator.Send("CONNECT ACCEL 1 I2C") TI_Innovator.Send(hubStrOn) TI_Innovator.Read() hubStrOff = '' timeStr = "Press mouse down to take fresh reading" driver = "ACCEL 1" driverConnected = true end},
{"READ ANALOG.IN 1", function() hubStrOn = "READ ANALOG.IN 1" TI_Innovator.Send("CONNECT ANALOG.IN 1 IN1") TI_Innovator.Send(hubStrOn) TI_Innovator.Read() hubStrOff = '' timeStr = "Press mouse down to take fresh reading" driver = "ANALOG.IN 1" driverConnected = true end},
{"READ DIGITAL.IN 1", function() hubStrOn = "READ DIGITAL.IN 1" TI_Innovator.Send("CONNECT DIGITAL.IN 1 IN1") TI_Innovator.Send(hubStrOn) TI_Innovator.Read() hubStrOff = '' timeStr = "Press mouse down to take fresh reading" driver = "DIGITAL.IN 1" driverConnected = true end},

},
{"Sound Samples",

{"C4", function() hubStrOn = "SET SOUND 262 TIME 1" TI_Innovator.Send(hubStrOn) hubStrOff = "SET SOUND 0 1" msgStr = hubStrOff rxValue = "Press mouse down to play sound" end},
{"A4", function() hubStrOn = "SET SOUND 440 TIME 1" TI_Innovator.Send(hubStrOn) hubStrOff = "SET SOUND 0 1" msgStr = hubStrOff rxValue = "Press mouse down to play sound" end},
{"C5", function() hubStrOn = "SET SOUND 523 TIME 1" TI_Innovator.Send(hubStrOn) hubStrOff = "SET SOUND 0 1" msgStr = hubStrOff rxValue = "Press mouse down to play sound" end},
{"No tone", function() hubStrOn = "SET SOUND 0 TIME 1" TI_Innovator.Send(hubStrOn) hubStrOff = "SET SOUND 0 1" msgStr = hubStrOff end},
{"Aliens (sample)", function() tempo = 1000 I=1 list1 = notes_aliens list2 = times_aliens playTone(list1,list2) rxValue = "Aliens" end},
{"BallGame (sample)", function() tempo = 1000 I=1 list1 = notes_bgame list2 = times_bgame playTone(list1,list2) rxValue = "Take me out to the Ball Game" end},
{"Happy Birthday (sample)", function() tempo = 1000 I=1 list1 = notes_bday list2 = times_bday playTone(list1,list2) rxValue = "Happy Birthday" end}, {"If I Only Had a Brain (sample)", function() tempo = 4000 I=1 list1 = notes_brain list2 = times_brain playTone(list1,list2) rxValue = "If I only had a brain" end},
{"Fur Elise (sample)", function() tempo = 1000 I=1 list1 = notes_elise list2 = times_elise playTone(list1,list2) rxValue = "Fur Elise" end},
{"Home on the Range (sample)", function() tempo = 1000 I=1 list1 = notes_home list2 = times_home playTone(list1,list2) rxValue = "Home on the Range" end},
{"Well-tempered Scale", function() tempo = 1000 I=1 list1 = notes_welltemp list2 = times_scale playTone(list1,list2) rxValue = "Well tempered scale" end},
{"Harmonic Scale", function() tempo = 1000 I=1 list1 = notes_harmonic list2 = times_scale playTone(list1,list2) rxValue = "Harmonic scale" end},

},
{"Robot Samples",

{"ROBOT FD runTime", function() fd(runTime) end},
{"ROBOT BK runTime", function() bk(runTime) end},
{"ROBOT LT 1 secs", function() lt(1) end},
{"ROBOT RT 1 secs", function() rt(1) end},
{"autoDrive (a)", function() autoDrive(runTime) end},
{"Switch Handheld Orientation (o)", function() orient = 1 - orient var.store("orient", orient) end},

},
{"TIMER Samples",

{"wait(runTime) (w)", function() wait(runTime) end},
{"blink(runTime,1)", function() blink(runTime,1) end},
{"alarm(runTime,0.5)", function() alarm(runTime,0.5) end},

},

}
toolpalette.register(Menu)
screen:invalidate()

end

-- Layout Functions

function on.resize(width, height)

w = screen:width()
h = screen:height()

hubStrOn, hubStrOff, msgStr, rxValue, timeStr = "", "", "", "", ""
var.store("hubstr", hubStrOn)
help, bump, delay, repeats = 0, 0, 0, 1
tempo, key, I = 1000, 0, 1 time_step = var.recall("time_step") or 0.5
runTime = var.recall("runtime") or 10
robotConnected = false

fontSize = math.floor(h/20 + 0.5)
if hh then

fontSize = fontSize > 7 and fontSize or 7
fontSize = fontSize < 24 and fontSize or 24

end

fontSize1 = math.floor(h/25 + 0.5)
if hh then

fontSize = fontSize > 7 and fontSize or 7
fontSize = fontSize < 24 and fontSize or 24

end

list1, list2, index, dataList = {}, {}, {}, {}
var.store("index", index)
var.store("dataList", dataList)

robotControls = rc(0.5*w, 0.5*h, 0.25*h, false, true)

calcView = calc(0.925*w,0.025*h,0.075*w,0.225*h, false, orient, true)

if TI_Innovator.isConnected() then

addMsg("TI Innovator Hub ready")
if not robotConnected then robotConnect() end

end

end

function on.paint (gc)

gc:setFont("sansserif", "r", fontSize)
if TI_Innovator.isConnected() and help == 0 then

gc:setFont("sansserif", "r", fontSize1)
robotControls:paint(gc)
gc:setColorRGB (0,255,0)
gc:fillRect (0, 0, w, 0.025*h)
local sw = gc:getStringWidth(speedStr)
gc:drawString(speedStr, 0.9*w - sw, 0.1*h, "middle")
local sw = gc:getStringWidth(runtimeStr)
gc:drawString(runtimeStr, 0.9*w - sw, 0.2*h, "middle")

else

gc:setColorRGB (255,0,0)
gc:fillRect (0, 0, w, 0.025*h)
gc:drawString("Wait for connection, then", 0.025*w, 0.1*h, "middle")
gc:drawString("press anywhere to activate Hub", 0.025*w, 0.2*h, "middle")
gc:setFont("sansserif", "r", fontSize1)
gc:drawString("Change settings (speed,runTime,auto min/max) or enter new hub ", 0.025*w, 0.4*h, "middle")
gc:drawString("commands using the spreadsheet on the next page", 0.025*w, 0.5*h, "middle")
gc:drawString("Tap at top right (or press 'o') to set handheld orientation", 0.025*w, 0.6*h, "middle")
gc:drawString("Press b for battery check, a for autoDrive, w for wait (data capture)", 0.025*w, 0.65*h, "middle")

end

calcView:paint(gc)

gc:setFont("sansserif", "r", fontSize)
gc:drawString(timeStr, 0.025*w, 0.75*h, "middle")
gc:drawString(msgStr, 0.025*w, 0.85*h, "middle")
gc:drawString(rxValue, 0.025*w, 0.95*h, "middle")

gc:setFont("sansserif", "r", fontSize1)
gc:setColorRGB(0, 0, 255)

local str = "Norland Hub Robot"
local sw = gc:getStringWidth(str)
gc:drawString(str, 0.975*w - sw, 0.95*h, "middle")

end

calc = class()

function calc:init(x, y, width, height, selected, orient, visible)

self.x = x
self.y = y
self.width = width
self.height = height
self.orient = orient
self.visible = visible
self.selected = selected

end

function calc:contains(x, y)

local sw = self.width or self.height
local sh = self.height or self.width
return x >= self.x and x <= self.x + sw and

y >= self.y and y <= self.y + sh

end

function calc:paint(gc)

w = screen:width()
h = screen:height()

if self.visible == true then

local x = self.x
local y = self.y
local width = self.width
local height = self.height

gc:setColorRGB(color.black)

local str = "bump"
local sw = gc:getStringWidth(str)
local sh = gc:getStringHeight(str)
gc:drawString(str, x + 0.5*width - sw/2, y + 0.1*height + (1-orient)*(height), "middle")
gc:setPen("medium", "smooth")
gc:drawLine(x + width/2-sw/2, y + (1-orient)*(height + 1.05*sh), x+width/2+sw/2, y + (1-orient)*(height + 1.05*sh))

if self.selected then

gc:setPen("medium", "smooth")

else

gc:setPen("thin", "smooth")

end

gc:fillRect(x, y + (orient)*1.1*sh, width, height)

gc:setColorRGB(color.white)
gc:fillRect(x + 0.1*width, y + orient*0.6*height + 0.05*height + (orient)*1.1*sh + (1-orient)*0.6*height, 0.8*width, 0.3*height)

gc:setFont("sansserif","r",fontSize1)
local str = "calc"
local sw = gc:getStringWidth(str)
gc:drawString(str, x + 0.5*width - sw/2, y + 0.25*height + 1.1*sh, "middle")

gc:setColorRGB(color.black)
local verticesUp = {x + 0.5*width, y + orient*0.6*height + 0.1*height + 1.1*sh ,

x + 0.75*width, y + orient*0.6*height + 0.275*height + 1.1*sh,
x + 0.25*width, y + orient*0.6*height + 0.275*height + 1.1*sh,
x + 0.5*width, y + orient*0.6*height + 0.1*height + 1.1*sh,}

local verticesDown = {x + 0.5*width, y + orient*0.6*height + 0.275*height + (1-orient)*0.6*height,

x + 0.75*width, y + orient*0.6*height + 0.1*height + (1-orient)*0.6*height,
x + 0.25*width, y + orient*0.6*height + 0.1*height + (1-orient)*0.6*height,
x + 0.5*width, y + orient*0.6*height + 0.275*height + (1-orient)*0.6*height,}

if orient > 0 then

gc:fillPolygon(verticesUp)

else

gc:fillPolygon(verticesDown)

end

end

end

function calc:mouseDown(x, y)

self.selected = true
screen:invalidate()

end

function calc:mouseUp(x, y)

orient = 1 - orient
var.store("orient",orient)
self.selected = false
screen:invalidate()

end

rc = class()

function robotConnect()

pcall(function()

TI_Innovator.Send('BEGIN\n')
robotControls.visible = true
TI_Innovator.Send("CONNECT ANALOG.OUT 1 BB1")
TI_Innovator.Send("CONNECT ANALOG.OUT 2 BB2")
TI_Innovator.Send("CONNECT ANALOG.OUT 3 BB3")
TI_Innovator.Send("CONNECT ANALOG.OUT 4 BB4")
TI_Innovator.Send("CONNECT DIGITAL.IN 5 BB5")
TI_Innovator.Send("CONNECT DIGITAL.IN 6 BB6")
TI_Innovator.Send("CONNECT ANALOG.IN 7 BB7")
robotConnected = true
hubStrOn = ""
var.store("hubstr", hubStrOn)
addMsg("ROBOT ready")

end)
screen:invalidate()

end

function robotDisconnect()

pcall(function()

TI_Innovator.Send('BEGIN')
robotConnected = false
hubStrOn = ''
hubStrOff = ''
bump = 0
delay = 0
runTime = var.recall("runtime") or 10
var.store("hubstr", hubStrOn)

end)
screen:invalidate()

end

function rc:init(x, y, width, selected, visible)

self.x = x
self.y = y
self.width = width
self.height = width
self.visible = visible
self.selected = selected

end

function rc:contains(x, y)

local sw = self.width or self.height
local sh = self.height or self.width
return x >= self.x - 1.5*sw and x <= self.x + 1.5*sw and
y >= self.y - 1.5*sh and y <= self.y + 1.5*sh

end

function rc:paint(gc)

w = screen:width()
h = screen:height()
if self.visible == true then

local x = self.x
local y = self.y
local width = self.width
local height = self.width
gc:setPen("thin", "smooth")
if self.selected and hubStrOn:find("BACK") then

gc:setPen("medium", "smooth")

else

gc:setPen("thin", "smooth")

end
local upArrow = {x - 0.5*width, y - 0.5*height, x, y - 1.5*height, x + 0.5*width, y - 0.5*height, x - 0.5*width, y - 0.5*height}
gc:setColorRGB(0,0,255)
gc:fillPolygon(upArrow)
gc:setColorRGB(color.black)
gc:drawPolyLine(upArrow)
if self.selected and hubStrOn:find("RIGHT") then

gc:setPen("medium", "smooth")

else

gc:setPen("thin", "smooth")

end
local leftArrow = {x - 1.5*width, y, x - 0.5*width, y - 0.5*height, x - 0.5*width, y + 0.5*height, x - 1.5*width, y}
gc:setColorRGB(0,0,255)
gc:fillPolygon(leftArrow)
gc:setColorRGB(color.black)
gc:drawPolyLine(leftArrow)
if self.selected and hubStrOn:find("LEFT") then

gc:setPen("medium", "smooth")

else

gc:setPen("thin", "smooth")

end
local rightArrow = {x + 1.5*width, y, x + 0.5*width, y - 0.5*height, x + 0.5*width, y + 0.5*height, x + 1.5*width, y}
gc:setColorRGB(0,0,255)
gc:fillPolygon(rightArrow)
gc:setColorRGB(color.black)
gc:drawPolyLine(rightArrow)
if self.selected and hubStrOn:find("FORWARD") then

gc:setPen("medium", "smooth")

else

gc:setPen("thin", "smooth")

end
local downArrow = {x - 0.5*width, y + 0.5*height, x, y + 1.5*height, x + 0.5*width, y + 0.5*height, x - 0.5*width, y + 0.5*height}
gc:setColorRGB(0,0,255)
gc:fillPolygon(downArrow)
gc:setColorRGB(color.black)
gc:drawPolyLine(downArrow)
if self.selected and not hubStrOn:find("FORWARD") and not hubStrOn:find("BACK") and not hubStrOn:find("RIGHT") and not hubStrOn:find("LEFT") then

gc:setPen("medium", "smooth")

else

gc:setPen("thin", "smooth")

end
gc:setColorRGB(255, 0, 0)
gc:fillArc(x - 0.5*width, y - 0.5*height, width, width, 0, 360)
gc:setColorRGB(color.black)
gc:drawArc(x - 0.5*width, y - 0.5*height, width, width, 0, 360)

end

end

function rc:mouseDown(x, y)

width = self.width
if not robotConnected then robotConnect() end
if x > self.x - 1.5*width and x < self.x + 1.5*width and y < self.y + 1.5*width and y > self.y - 1.5*width then

self.selected = true
if x < self.x - 0.5*self.width and x > self.x - 1.5*self.width

and y < self.y + 0.5*self.width and y > self.y - 0.5*self.width then
if orient > 0 then lt(0.5) else rt(0.5) end

elseif x < self.x + 1.5*self.width and x > self.x + 0.5*self.width

and y < self.y + 1.5*self.width and y > self.y - 0.5*self.width then
if orient > 0 then rt(0.5) else lt(0.5) end

elseif x < self.x + 0.5*self.width and x > self.x - 0.5*self.width

and y < self.y + 1.5*self.width and y > self.y + 0.5*self.width then
if orient > 0 then bk(1) else fd(1) end

elseif x < self.x + 0.5*self.width and x > self.x - 0.5*self.width

and y < self.y - 0.5*self.width and y > self.y - 1.5*self.width then
if orient > 0 then fd(1) else bk(1) end

else

on.escapeKey()

end

end
screen:invalidate()

end

function rc:mouseUp(x, y)

robotDisconnect()
self.selected = false
screen:invalidate()

end

-- TI Innovator User set up

function on.arrowKey(key)

if key == "down" then

if orient > 0 then bk(runTime) else fd(runTime) end

elseif key == "up" then

if orient > 0 then fd(runTime) else bk(runTime) end

elseif key == "left" then

if orient > 0 then lt(0.5) else rt(0.5) end

else

if orient > 0 then rt(0.5) else lt(0.5) end

end
screen:invalidate()

end

function on.help()

help = 1 - help
screen:invalidate()

end

function on.charIn(ch)

if ch == "a" then autoDrive(runTime)
elseif ch == "b" then batteryCheck()
elseif ch == "o" then orient = 1 - orient var.store("orient",orient)
elseif ch == "w" then wait(runTime)
elseif ch == "?" then help = 1 - help
end
screen:invalidate()

end

function on.escapeKey()

TI_Innovator.Send(hubStrOff)
robotDisconnect()
on.resize()
screen:invalidate()

end

function on.mouseDown(x, y)

if calcView:contains(x, y) then

calcView:mouseDown(x, y)

end

if robotControls.visible and robotControls:contains(x, y) then

robotControls:mouseDown(x, y)

else

TI_Innovator.Send(hubStrOn)
addMsg(hubStrOn)
if hubStrOn:find("READ") then TI_Innovator.Read() end

end
screen:invalidate()

end

function on.mouseUp (x,y)

if calcView.selected then

calcView:mouseUp(x, y)

end

if robotControls.visible and robotControls:contains(x, y) then

robotControls:mouseUp(x, y)

else

timeStr = ''
help = 0
TI_Innovator.Send(hubStrOff)
addMsg(hubStrOff)
screen:invalidate()

end
screen:invalidate()

end

function str2list(input, def)

local list = {}
if input:find(def) then

list = input:split(def)
table.foreachi(list,print)

else

list = {input}

end
return list

end

function TI_InnovatorReadCallback(port, error_msg) -- this is the callback function that is defined above and catches the result of a READ command send to the Hub.

rxValue = port:getValue() or '' -- this gets the actual return value from the hub and puts it in the variable rxValue. The user may choose any variable name and also may do any calibration or ranging of the value here.
if tonumber(rxValue) then

rxValue = math.floor(100*rxValue+0.5)/100
dataList[#dataList+1] = tonumber(rxValue)
index[#index+1]=#dataList
var.store("index", index)
var.store("dataList", dataList)
TI_Innovator.Send("SET SOUND "..100*tonumber(rxValue).." 0.1")
else rxValue = tostring(rxValue)
local list = str2list(rxValue,string.char(10))
if list and #list > 0 then

for k = 1, #list do

if tonumber(list[k]) then
rxValue = tonumber(list[k])
TI_Innovator.Send("SET SOUND "..100*tonumber(rxValue).." 0.1")
break end

end

end

end
screen:invalidate()

end

function TI_InnovatorStateCallback(event)

addMsg("TI_InnovatorStateCallback")
if 'ready' == event then
TI_InnovatorConfig()
elseif "disconnected" == event then
-- user may choose to do some clean up or display a msg when the Hub is disconnected.
addMsg("TI_Innovator Hub disconnected")
end
screen:invalidate()

end

function TI_InnovatorConfig() -- this function is called from TI_InnovatorStateCallback() when a ready connection is succesful.

-- place CONNECT and other Hub startup commands here
addMsg("TI_Innovator Hub connected")
on.resize()
TI_Innovator.Send(hubStrOff)
TI_Innovator.Send("BEGIN\n")
TI_Innovator.Send("CONNECT ANALOG.OUT 1 BB1")
TI_Innovator.Send("CONNECT ANALOG.OUT 2 BB2")
TI_Innovator.Send("CONNECT ANALOG.OUT 3 BB3")
TI_Innovator.Send("CONNECT ANALOG.OUT 4 BB4")
TI_Innovator.Send("CONNECT DIGITAL.IN 5 BB5")
TI_Innovator.Send("CONNECT DIGITAL.IN 6 BB6")
TI_Innovator.Send("CONNECT ANALOG.IN 7 BB7")
addMsg("ROBOT ready")
batteryCheck()
screen:invalidate()

end

function wait(input)

if input then delay = input end
time_step = 0.1
if delay >= 0 then

timeStr = "Wait Time: "..delay.." seconds"
delay = math.floor((1/time_step)*(delay - time_step)+0.5)*time_step
TI_Innovator.Send(hubStrOn)
if hubStrOn:find("READ") then TI_Innovator.Read() end
oneShotTimer(1000*time_step,wait)

else

TI_Innovator.Send(hubStrOff)
delay = 0

end
screen:invalidate()

end

function blink(rep,waitValue)

local lightState = "OFF"
if waitValue then delay = waitValue end
if rep then repeats = rep end
if repeats > 0 then

timeStr = "blink("..(math.floor(repeats+0.5))..", "..delay..")"
if math.floor(repeats) == repeats then lightState = "ON" else lightState = "OFF" end
TI_Innovator.Send("SET LIGHT "..lightState)
oneShotTimer(1000*delay,blink)
repeats = repeats - 0.5

end
screen:invalidate()

end

function alarm(rep,waitValue)

local tone = 220
if waitValue then delay = waitValue end
if rep then repeats = rep end
if repeats > 0 then

timeStr = "alarm("..(math.floor(repeats+0.5))..", "..delay..")"
if math.floor(repeats) == repeats then tone = 440 else tone = 220 end
TI_Innovator.Send("SET SOUND "..tone)
oneShotTimer(1000*delay,alarm)
repeats = repeats - 0.5

end
screen:invalidate()

end

function waitTone()

if not list1 then list1 = var.recall("list1") end
if not list2 then list2 = var.recall("list2") end
if list1 and #list1 > 0 and list2 and #list2 > 0 then

if I <= #list1 and list1[I] and list2[I] then -- don't go past the lenght of the array

if list1[I] and list2[I] then

local str = "SET SOUND "..list1[I]*2^(key/12).." TIME "..math.floor(100/(list2[I])+0.5)/100
hubStrOn = str
TI_Innovator.Send(str)
var.store("hubstr", hubStrOn) addMsg(hubStrOn) oneShotTimer((tempo/list2[I])+20, waitTone)
I = I + 1

end

else

hubStrOn = ""
hubStrOff = ""
addMsg(hubStrOff)

end

end
screen:invalidate()

end

function playTone(list1, list2)

waitTone()
screen:invalidate()

end

-- Robot Functions

function batteryCheck()

if not robotConnected then robotConnect() end

TI_Innovator.Send('READ ANALOG.IN 7')
TI_Innovator.Read()
hubStrOn = "READ ANALOG.IN 7"
addMsg("READ ANALOG.IN 7")
timeStr = "Press mouse to check battery"
screen:invalidate()

end

function bumpCheck(time)

if not robotConnected then robotConnect() end

if math.floor(time) == time then

TI_Innovator.Send('READ DIGITAL.IN 5')
TI_Innovator.Read()
if tonumber(rxValue) then bump = bump + math.abs(tonumber(rxValue)) end

else

TI_Innovator.Send('READ DIGITAL.IN 6')
TI_Innovator.Read()
if tonumber(rxValue) then bump = bump + math.abs(tonumber(rxValue)) end

end

screen:invalidate()

return bump

end

function fd(input)

if not robotConnected then robotConnect() end
if input then delay = input end
bump = bumpCheck(delay)

if bump == 0 and delay >= 0 then

addMsg("ROBOT FORWARD")
TI_Innovator.Send('SET ANALOG.OUT 1 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 3 '..robotSpeed)
timeStr = delay.." seconds"
delay = delay - time_step
oneShotTimer(1000*time_step,fd)

else

TI_Innovator.Send('SET ANALOG.OUT 1 0')
TI_Innovator.Send('SET ANALOG.OUT 3 0')
addMsg('')
if bump < 0 then addMsg("Left bumper alert!") elseif bump > 0 then addMsg("Right bumper alert!") end
bump = 0
delay = 0

end screen:invalidate()

end

function bk(input)

if not robotConnected then robotConnect() end
if input then delay = input end
bump = bumpCheck(delay)

if bump == 0 and delay >= 0 then

addMsg("ROBOT BACK")
TI_Innovator.Send('SET ANALOG.OUT 2 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 4 '..robotSpeed)
timeStr = delay.." seconds"
delay = delay - time_step
oneShotTimer(1000*time_step,bk)

else

TI_Innovator.Send('SET ANALOG.OUT 2 0')
TI_Innovator.Send('SET ANALOG.OUT 4 0')
addMsg('')
if bump < 0 then addMsg("Left bumper alert!") elseif bump > 0 then addMsg("Right bumper alert!") end
bump = 0
delay = 0

end screen:invalidate()

end

function lt(input)

if not robotConnected then robotConnect() end
if input then delay = input end
bump = bumpCheck(delay)

if bump == 0 and delay >= 0 then

addMsg("ROBOT LEFT")
TI_Innovator.Send('SET ANALOG.OUT 1 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 4 '..robotSpeed)
timeStr = delay.." seconds"
delay = delay - time_step
oneShotTimer(1000*time_step,lt)

else

TI_Innovator.Send('SET ANALOG.OUT 1 0')
TI_Innovator.Send('SET ANALOG.OUT 4 0')
addMsg('')
if bump < 0 then addMsg("Left bumper alert!") elseif bump > 0 then addMsg("Right bumper alert!") end
bump = 0
delay = 0

end screen:invalidate()

end

function rt(input)

if not robotConnected then robotConnect() end
if input then delay = input end
bump = bumpCheck(delay)

if bump == 0 and delay >= 0 then

addMsg("ROBOT RIGHT")
TI_Innovator.Send('SET ANALOG.OUT 2 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 3 '..robotSpeed)
timeStr = delay.." seconds"
delay = delay - time_step
oneShotTimer(1000*time_step,rt)

else

TI_Innovator.Send('SET ANALOG.OUT 2 0')
TI_Innovator.Send('SET ANALOG.OUT 3 0')
addMsg('')
if bump < 0 then addMsg("Left bumper alert!") elseif bump > 0 then addMsg("Right bumper alert!") end
bump = 0
delay = 0

end screen:invalidate()

end

function autoDrive(input)

if not robotConnected then robotConnect() end if input then delay = input end
if delay >= 0 then

TI_Innovator.Send("READ BRIGHTNESS")
TI_Innovator.Read()

if tonumber(rxValue) and tonumber(rxValue) > tonumber(autoMin)/2 then

if tonumber(rxValue) > tonumber(autoMin) and tonumber(rxValue) < tonumber(autoMax) then

TI_Innovator.Send('SET ANALOG.OUT 1 0')
TI_Innovator.Send('SET ANALOG.OUT 3 0')
TI_Innovator.Send('SET ANALOG.OUT 2 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 4 '..robotSpeed)
addMsg("ROBOT BACK")

else

TI_Innovator.Send('SET ANALOG.OUT 2 0')
TI_Innovator.Send('SET ANALOG.OUT 4 0')
TI_Innovator.Send('SET ANALOG.OUT 1 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 3 '..robotSpeed)
addMsg("ROBOT FORWARD" )
TI_Innovator.Send('SET ANALOG.OUT 1 0')
TI_Innovator.Send('SET ANALOG.OUT 4 0')
TI_Innovator.Send('SET ANALOG.OUT 2 '..robotSpeed)
TI_Innovator.Send('SET ANALOG.OUT 3 '..robotSpeed)
addMsg("ROBOT RIGHT")

end

end

timeStr = delay.." seconds"
delay = delay - time_step
oneShotTimer(1000*time_step,autoDrive)

else

addMsg('')
TI_Innovator.Send('SET ANALOG.OUT 1 0')
TI_Innovator.Send('SET ANALOG.OUT 2 0')
TI_Innovator.Send('SET ANALOG.OUT 3 0')
TI_Innovator.Send('SET ANALOG.OUT 4 0')

end
screen:invalidate()

end

--End of user code do not modify below this line

-- TI Innovator Code Do not modify any code below this line

-- oneShotTimer BEGINS

local timerstart = timer.start
local timerstop = timer.stop
timer.start = nil
timer.stop = nil
local currentTimer = nil

local function timerStart(t)

currentTimer = t
timerstart(t.period/1000)

end

local function timerStop()

currentTimer = nil
timerstop()

end

local function setTimer(t)

if t.period==nil or type(t.period)~='number' or t.period < 10 then error('period in milliseconds >= 10') end
timerStart(t)
return t

end

function oneShotTimer(period, listenerHandler, ...)

if type(listenerHandler) ~= 'function' then

error('createTimerOneShot: function expected')

end
setTimer {

period = period,
oneShot = true,
listenerHandler = listenerHandler,
params = { ... },

}

end

function on.timer()

local ct = currentTimer
if currentTimer == nil then

timerStop()

end
if currentTimer.oneShot then

currentTimer = nil
timerStop()

end
ct.listenerHandler(unpack(ct.params))
screen:invalidate()

end

-- oneShotTimer ENDS

-- TI Innovator BEGINS

TI_Innovator = { }

function TI_Innovator.init(theStateCallback)

if not pcall(function() require 'asi' end) then

addMsg('Hub NOT available')
return

end

addMsg('Hub available')

isASIavailable = true

local HANDSHAKE_GREETING = 'ISTI\n'
local HANDSHAKE_ANSWER = 'TISTEM'
local portFoundList = { }
local state
local handshakeState
local notifyEvent
local asiStateListener
local startScanning
local stopScanning
local portFoundListener
local portStateListener
local handshake_SendListener
local handshake_readListener
local handshake_port
local TI_Innovator_port
local baudRate = asi.BAUD_RATE_DEFAULT
local readTimeout = asi.READ_TIMEOUT_DEFAULT

-- User callbacks
local stateCallback = theStateCallback
local SendCallback
local readCallback

function notifyEvent(event)

addMsg('notifying '.. event)
if stateCallback then

stateCallback(event)

else

addMsg('no callback registered')

end

end

function startScanning()

if isASIavailable then

asi.startScanning(portFoundListener)
notifyEvent('scanning')

end

end

function stopScanning()

handshake_port = nil
portFoundList = { }
asi.stopScanning()

end

function asiStateListener(asiState)

if asi.ON == asiState then

if state == 'active' then

startScanning()

end

elseif asi.UNSUPPORTED == asiState then

notifyEvent(asi.UNSUPPORTED)

end

end

function portFoundListener(portFound)

table.insert(portFoundList, portFound)
if not TI_Innovator_port and not handshake_port then

handshake_port = portFoundList[1]
oneShotTimer(100, handshake_port.connect, handshake_port, portStateListener)

end

end

function portStateListener(reportedPort, event, error_msg)

if asi.CONNECTED == event then

-- configure port for handshake
reportedPort:setWriteListener(handshake_writeListener)
reportedPort:setReadListener(handshake_readListener)
reportedPort:setReadTimeout(500)
handshakeState = 'handshake'
-- write handshake greeting
oneShotTimer(200, reportedPort.write, reportedPort, HANDSHAKE_GREETING)

elseif asi.CONNECTING_FAILED == event then

if reportedPort == handshake_port then

table.remove(portFoundList, 1)
if #portFoundList>0 then

handshake_port = portFoundList[1]
handshake_port:connect(portStateListener)

else

handshake_port = nil

end

elseif reportedPort == TI_Innovator_port then

TI_Innovator_port = nil
asi.startScanning(portFoundListener)

end

elseif asi.DISCONNECTED == event then

if reportedPort == TI_Innovator_port then

if state == 'active' then

if reportedPort:getState() == asi.DISCONNECTED then

reportedPort:connect(portStateListener)

else

TI_Innovator_port = nil
asi.startScanning(portFoundListener)

end

notifyEvent('disconnected')

end

end

end

end

function handshake_writeListener(reportedPort, error_msg)

if error_msg then

return

end
if 'handshake' == handshakeState then

reportedPort:read(#HANDSHAKE_ANSWER+2)

end

end

function handshake_readListener(reportedPort, error_msg)

if error_msg then

return

end
local answer = reportedPort:getValue()
if 'handshake' == handshakeState then

-- Validate answer
if answer and answer:find(HANDSHAKE_ANSWER) then

stopScanning()
handshakeState = 'ready'
reportedPort:write('BEGIN\n')
reportedPort:read(7)

else

reportedPort:disconnect()
table.remove(portFoundList, 1)
if #portFoundList>0 then

handshake_port = portFoundList[1]
handshake_port:connect(portStateListener)

else

handshake_port = nil

end

end

elseif 'ready' == handshakeState then

if answer and answer:find('READY') then

-- Configure port for normal use
TI_Innovator_port = reportedPort
TI_Innovator_port:setReadTimeout(readTimeout)
TI_Innovator.setWriteListener(SendCallback)
TI_Innovator.setReadListener(readCallback)
-- Notify launchpad is ready
notifyEvent('ready')

end

end

end

-- INTERFACE -- BEGINS --

function TI_Innovator.connect()

state = 'active'
startScanning()

end

function TI_Innovator.disconnect()

state = 'inactive'
if isASIavailable then

if TI_Innovator_port then

TI_Innovator_port:disconnect()
TI_Innovator_port = nil

end
stopScanning()

end

end

function TI_Innovator.setWriteListener(newWriteCallback)

writeCallback = newWriteCallback
if TI_Innovator_port then

TI_Innovator_port:setWriteListener(writeCallback)

end

end

function TI_Innovator.setReadListener(newReadCallback, newReadObject)

readCallback = newReadCallback
if TI_Innovator_port then

TI_Innovator_port:setReadListener(readCallback)

end

end

function TI_Innovator.setBaudRate(newBaudRate)

baudRate = newBaudRate
if TI_Innovator_port then

TI_Innovator_port:setBaudRate(baudRate)

end

end

function TI_Innovator.setReadTimeout(newReadTimeout)

readTimeout = newReadTimeout
if TI_Innovator_port then

TI_Innovator_port:setReadTimeout(readTimeout)

end

end

function TI_Innovator.Send(data)

if not TI_Innovator_port then

addMsg('No Hub attached')
return 'No Hub attached'

end
local result = TI_Innovator_port:write(data .. '\n')
if result then addMsg(tostring(data)..': '.. tostring(result)) end
return result

end

function TI_Innovator.Read(bytes_to_read)

if not TI_Innovator_port then

return "No TI Hub attached"

end
return TI_Innovator_port:read(bytes_to_read)

end

function TI_Innovator.request(request)

if not TI_Innovator_port then

return "No TI Hub attached"

end
local result = TI_Innovator_port:write(request .. '\n')
if result then addMsg(tostring(request) .. ': '.. tostring(result))
else addMsg(tostring(request)) end
result = TI_Innovator_port:read()
addMsg('read() '.. tostring(result))
if result then

addMsg('Error sending request: ' .. tostring(request))

end
return result

end

function TI_Innovator.isConnected()

if not TI_Innovator_port then

return false

end
return TI_Innovator_port:getState() == asi.CONNECTED

end

function TI_Innovator.getName()

if not TI_Innovator_port then

return "No TI Hub attached"

end
return TI_Innovator_port:getName()

end

function TI_Innovator.getIdentifier()

if not TI_Innovator_port then

return "No TI Hub attached"

end
return TI_Innovator_port:getIdentifier()

end

-- INTERFACE -- ENDS --

-- Wait for the ASI to be up and running

asi.addStateListener(asiStateListener)

end