source: rtos_arduino/trunk/arduino_lib/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino@ 136

/* Robot Logo

 This sketch demonstrates basic movement of the Robot.
 When the sketch starts, press the on-board buttons to tell
 the robot how to move. Pressing the middle button will
 save the pattern, and the robot will follow accordingly.
 You can record up to 20 commands. The robot will move for
 one second per command.

 This example uses images on an SD card. It looks for
 files named "lg0.bmp" and "lg1.bmp" and draws them on the
 screen.

 Circuit:
 * Arduino Robot

 created 1 May 2013
 by X. Yang
 modified 12 May 2013
 by D. Cuartielles

 This example is in the public domain
 */

#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>

int commands[20];  //  array for storing commands

void setup() {
  // initialize the Robot, SD card, and display
  Robot.begin();
  Robot.beginTFT();
  Robot.beginSD();

  // draw "lg0.bmp" and "lg1.bmp" on the screen
  Robot.displayLogos();
}

void loop() {

  Robot.drawBMP("intro.bmp", 0, 0);  //display background image

  iniCommands(); // remove commands from the array
  addCommands(); // add commands to the array

  delay(1000); // wait for a second

  executeCommands(); // follow orders

  Robot.stroke(0, 0, 0);
  Robot.text("Done!", 5, 103); // write some text to the display
  delay(1500); // wait for a moment
}

// empty the commands array
void iniCommands() {
  for (int i = 0; i < 20; i++)
    commands[i] = -1;
}

// add commands to the array
void addCommands() {
  Robot.stroke(0, 0, 0);
  // display text on the screen
  Robot.text("1. Press buttons to\n add commands.\n\n 2. Middle to finish.", 5, 5);

  // read the buttons' state
  for (int i = 0; i < 20;) { //max 20 commands
    int key = Robot.keyboardRead();
    if (key == BUTTON_MIDDLE) { //finish input
      break;
    } else if (key == BUTTON_NONE) { //if no button is pressed
      continue;
    }
    commands[i] = key; // save the button to the array
    PrintCommandI(i, 46); // print the command on the screen
    delay(100);
    i++;
  }
}

// run through the array and move the robot
void executeCommands() {
  // print status to the screen
  Robot.text("Excuting...", 5, 70);

  // read through the array and move accordingly
  for (int i = 0; i < 20; i++) {
    switch (commands[i]) {
      case BUTTON_LEFT:
        Robot.turn(-90);
        break;
      case BUTTON_RIGHT:
        Robot.turn(90);
        break;
      case BUTTON_UP:
        Robot.motorsWrite(255, 255);
        break;
      case BUTTON_DOWN:
        Robot.motorsWrite(-255, -255);
        break;
      case BUTTON_NONE:
        return;
    }
    // print the current command to the screen
    Robot.stroke(255, 0, 0);
    PrintCommandI(i, 86);
    delay(1000);

    // stop moving for a second
    Robot.motorsStop();
    delay(1000);
  }
}

// convert the button press to a single character
char keyToChar(int key) {
  switch (key) {
    case BUTTON_LEFT:
      return '<';
    case BUTTON_RIGHT:
      return '>';
    case BUTTON_UP:
      return '^';
    case BUTTON_DOWN:
      return 'v';
  }
}

// display a command
void PrintCommandI(int i, int originY) {
  Robot.text(keyToChar(commands[i]), i % 14 * 8 + 5, i / 14 * 10 + originY);
}