void TeleopPeriodic(void) {
// increment the number of teleop periodic loops completed
m_telePeriodicLoops++;
static AutoDrive *autoDrive = NULL;
bool autoButton = DriveStick->GetButton(Joystick::kTriggerButton);
if (autoButton)
{
if (autoDrive == NULL)
autoDrive = new AutoDrive(m_Configuration->GetValue( m_Constant[ cAutoDrive]) * 100);
autoDrive->Periodic(MyRobot, ds);
ds->PrintfLine (DriverStationLCD::kUser_Line5, "autoDrive on");
}
else
{
ds->PrintfLine (DriverStationLCD::kUser_Line5, "autoDrive off");
if (autoDrive != NULL)
{
MyRobot.ResetCounters();
delete autoDrive;
autoDrive = NULL;
}
if( !m_Configuration)
{
printf( "Configuration Initialize");
InitializeConfiguration();
}
m_Configuration->Execute( DriveStick->GetRawButton( 2), DriveStick->GetZ(), ds);
if(DriveStick->GetRawButton( 3))
{
ds->PrintfLine(DriverStationLCD::kUser_Line6, "Calculating distance...");
Vision *vision = new Vision();
double distance = vision->TakeDistancePicture( ds, m_Configuration->GetValue( m_Constant[ cHBottom]), m_Configuration->GetValue( m_Constant[ cHTop]), m_Configuration->GetValue( m_Constant[ cSBottom]), m_Configuration->GetValue( m_Constant[ cSTop]), m_Configuration->GetValue( m_Constant[ cVBottom]), m_Configuration->GetValue( m_Constant[ cVTop]));
if( distance < 0.000001)
ds->PrintfLine(DriverStationLCD::kUser_Line6, "No target found");
else
ds->PrintfLine(DriverStationLCD::kUser_Line6, "distance to target: %lf",distance);
delete vision;
}
// Real teleop mode: use the JoySticks to drive
MyRobot.DriveRobot(DriveStick->GetY(),(DriveStick->GetX()), ds);
}
ds->UpdateLCD();
} // TeleopPeriodic(void)
/**
* Constructor for this "EntropyRobotDrive2014" Class.
*/
EntropyRobot2014(void) {
printf(" Constructor Started\n");
// Establish Hardware IO Controllers
DriveStick = new EntropyJoystick(IODefinitions::USB_PORT_1);
GameStick = new EntropyJoystick(IODefinitions::USB_PORT_2);
m_Configuration = NULL;
InitializeConfiguration();
// Acquire the Driver Station object
EntropyDriverStation = DriverStation::GetInstance();
m_priorPacketNumber = 0;
m_dsPacketsReceivedInCurrentSecond = 0;
// Initialize counters to record the number of loops completed in autonomous and teleop modes
m_autoPeriodicLoops = 0;
m_disabledPeriodicLoops = 0;
m_telePeriodicLoops = 0;
ds = DriverStationLCD::GetInstance();
printf("EntropyBot14 Constructor Completed\n");
}
DWORD
PXEAPI
PxeProviderInitialize(
__in HANDLE hProvider,
__in HKEY hProviderKey
)
/*++
Routine Description:
This function is called by WDS PXE to initialize Filter Provider.
Arguments:
hProvider - Handle to Provider.
hProviderKey - Handle to registry store where Provider should store
its configuration information.
Return Value:
ERROR_SUCCESS on success. On failure appropriate Win32 Error Code is
returned.
--*/
{
DWORD dwError = ERROR_SUCCESS;
HRESULT hr = S_OK;
ULONG uFilter = PXE_PROV_FILTER_PXE_ONLY;
UNREFERENCED_PARAMETER(hProviderKey);
//
// Read Policy Settings.
//
dwError = InitializeConfiguration();
W32_CLEANUP_ON_FAILURE(dwError, Cleanup);
//
// Register Shutdown Callback.
//
dwError = PxeRegisterCallback(hProvider,
PXE_CALLBACK_SHUTDOWN,
PxeProviderShutdown,
NULL);
W32_CLEANUP_ON_FAILURE(dwError, Cleanup);
//
// Register Request Processing Callback.
//
dwError = PxeRegisterCallback(hProvider,
PXE_CALLBACK_RECV_REQUEST,
PxeProviderRecvRequest,
NULL);
W32_CLEANUP_ON_FAILURE(dwError, Cleanup);
//
// Define filter to only receive requests which are valid Dhcp Packets and
// contain Option 60 'PXEClient'.
//
dwError = PxeProviderSetAttribute(hProvider,
PXE_PROV_ATTR_FILTER,
&uFilter,
sizeof(uFilter));
W32_CLEANUP_ON_FAILURE(dwError, Cleanup);
//
// Save Provider Handle.
//
g_hFilterProvider = hProvider;
Cleanup:
return dwError;
}
