inline void BiMotor::Rotate(
MTMovDir_enum Direction,
uint8_t Angle, // the unit is 10 degree
MTSpeed_enum Speed
)
{
MTSingleAct_enum Action;
uint8_t i;
//check para
if ( MT_CLOCKRANDOM == Direction )
{
randomSeed(millis());
Direction = (0 == random(2)) ? MT_CLOCKWISE : MT_ANTICLOCK;
}
if ( ANGLE_RANDOM == Angle )
{
Angle = random(5);
}
if ( 0 == Angle )
{
return;
}
/*set dirction*/
switch(Direction)
{
case MT_CLOCKWISE:
SetSingleMotorAction( MOTOR_INDEX_L, MT_ACTION_FORWORD);
SetSingleMotorAction( MOTOR_INDEX_R, MT_ACTION_BACKWORD);
break;
case MT_ANTICLOCK:
SetSingleMotorAction( MOTOR_INDEX_L, MT_ACTION_BACKWORD);
SetSingleMotorAction( MOTOR_INDEX_R, MT_ACTION_FORWORD);
break;
default:
; //error
}
/** RunCnt must be set before SpeedVal**/
SetRotateAngle(Angle);
SetSpeed(Speed);
Run();
}
void CRotateDispWnd::OnTimer(UINT nIDEvent)
{
// TODO: Add your message handler code here and/or call default
KillTimer(1);
ShowWindow(SW_MINIMIZE);
ShowWindow(SW_HIDE);
if(IsMouseDllOk)
{
SetRotate(FALSE);
switch(RotNum)
{
case ANG_90:
SetRotateAngle(90);
break;
case ANG_180:
SetRotateAngle(180);
break;
case ANG_270:
SetRotateAngle(270);
break;
default:
goto path1;
}
SetRotate(TRUE);
}
path1:
ChangeDispById(RotNum&3);
if(PathFileExists("RotateDisp.vbs"))
{
char param=(RotNum&3)+'0';
ShellExecute(NULL,"open","RotateDisp.vbs",¶m,NULL,SW_SHOWNORMAL);
}
CWnd::OnTimer(nIDEvent);
}
