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====== How to Add a New Mode to Darwin OP 2 ======


**Author:** Yu Hang He **Email:** <hey6@unlv.nevada.edu> 
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**Date:** Last modified on <11/18/17>
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**Keywords:** Darwin OP 2, C++/C Programming, Robotis OP 2
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This tutorial will demonstrate how to add a new mode to Darwin OP 2's demo program. The new mode will be added alongside Autonomous Soccer, Interactive Motion, and Vision Processing mode. After starting program, use mode button on the back of Darwin OP 2 to cycle through modes and press start button to start the new mode.It takes approximately 2 hours to complete. 
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===== Motivation and Audience =====

This tutorial's motivation is to demonstrate a process to quickly implement and test new codes on Darwin OP 2. This tutorial assumes the reader has the following background and interests: 

<fc blue>  
  * Familiar with handling Darwin OP 2
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  * Familiar with C++/C programming language
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  * Familiar with C++/C codes on Darwin OP 2
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</fc>
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The rest of this tutorial is presented as follows:
  * [[new_mode_demonstration#Source_Code | Source_Code]]
  * [[new_mode_demonstration#Programming | Programming]]
  * [[new_mode_demonstration#Demonstration | Demonstration]]
  * [[new_mode_demonstration#Final_Words | Final Words]]

===== Source Code =====

It is always recommended to modify a copy of Darwin OP's source code instead of editing the source code directly. 

A link to download the source code can be found at [[https://sourceforge.net/p/darwinop/code/HEAD/tree/trunk/ | Robotis' Sourceforge]].

{{ :yuhang:darwin_sprint:sourcecode.png?800 | Source code }}

Click on ''Download Snapshot'' in upper right corner to download the source code.

The codes for demonstration program can be found under ''**robotisop2/Linux/project/demo**''.
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''**main.cpp**'', ''**StatusCheck.cpp**'', and ''**StatusCheck.h**'' will be modified to implement the new mode.
===== Programming =====

This tutorial will only demonstrate parts of program that needs modification to include a new mode.

<code cpp | StatusCheck.h> 
//Line 16
enum {
        INITIAL,
        READY,
        SOCCER,
        MOTION,
        VISION,
        NEW_MODE, //Add a new mode called "NEW_MODE" to an enumerated list of modes
        MAX_MODE
    };
</code>

<code cpp | StatusCheck.cpp>
//At the end of if statement Line 141
if(m_old_btn & BTN_MODE)
        ///////////////////////////
        //////////////////////////
        //////////////////////////
        else if(m_cur_mode == SPRINT) //adding LED and play mp3 for new mode
        {
            cm730.WriteByte(CM730::P_LED_PANNEL, 0x01|0x04, NULL);
            //Signaling Darwin OP 2 which LED to turn on
            LinuxActionScript::PlayMP3("../../../Data/mp3/New_Mode mode.mp3");
            //play an mp3 file (you can use any mp3 file but make sure file name matches)
        }
    }
    
// Line 267 Add
  else if(m_cur_mode == NEW_MODE)
  {
      MotionManager::GetInstance()->Reinitialize();
      MotionManager::GetInstance()->SetEnable(true);
      //initialize and enable MotionManager class
      m_is_started = 1;
      LinuxActionScript::PlayMP3("../../../Data/mp3/Start New_Mode demonstration.mp3");
      //play an mp3 file (you can use any mp3 file but make sure file name matches)

      // Joint Enable...
      Action::GetInstance()->m_Joint.SetEnableBody(true, true);

      Action::GetInstance()->Start(9);
      while(Action::GetInstance()->IsRunning() == true) usleep(8000);

      Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
      Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
      //Reset Gyro sensor
      MotionManager::GetInstance()->ResetGyroCalibration();
      while(1)
      {
          if(MotionManager::GetInstance()->GetCalibrationStatus() == 1)
          {
              LinuxActionScript::PlayMP3("../../../Data/mp3/Sensor calibration complete.mp3");
              break;
          }
          else if(MotionManager::GetInstance()->GetCalibrationStatus() == -1)
          {
              LinuxActionScript::PlayMP3Wait("../../../Data/mp3/Sensor calibration fail.mp3");
              MotionManager::GetInstance()->ResetGyroCalibration();
          }
          usleep(8000);
      }
  //copied status check condition from soccer mode to new mode
  //These codes initialize Darwin OP 2 for movement and walking
</code>

<code cpp | main.cpp>
//L317 Add
  case New_Mode:
  //implement new codes here to execute after pressing start button
</code>

===== Demonstration =====

In this demonstration, I created a new mode called Sprint mode following the previous step and successfully execute it on Darwin OP 2.

{{ youtube>WFf2_SOmUEI?large }} 

===== Final Words =====

This tutorial's objective was to demonstrate how to add a new mode to Darwin OP 2's demo program. Follow this tutorial to quickly implement and test new codes on Darwin OP 2.
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For questions, clarifications, etc, Email: <hey6@unlv.nevada.edu>