void loop(){
/*if(move){*/
/*if(off_track_count > 700){
analogWrite(ID_LED_BLUE, 0);
analogWrite(ID_LED_GREEN, 0);
analogWrite(ID_LED_RED, 255);
adjustMotor(0,0);
Serial.print("TOTAL DISTANCE: "); Serial.println(getTotalDistance());
for(;;);
}else{*/
//detectLine();
keepDistance();
#ifdef ASSIGNMENT2
if (motorDist_l < 0.1){
startCrossingGap();
}
#else
if (curstate == WAITTOSTART && motorDist_l < 0.1){
curstate = STRAIGHTAHEAD;
}
#endif
controlState();
#ifdef BOT_SERIAL
//keepDistance();
#endif
adjustMotor(motorLine_l*motorDist_l,motorLine_r*motorDist_r);
//Serial.print("Motor line speed: ("); Serial.print(motorLine_l); Serial.print(", "); Serial.print(motorLine_r); Serial.println(")");
//Serial.print("Motor dist speed: ("); Serial.print(motorDist_l); Serial.print(", "); Serial.print(motorDist_r); Serial.println(")");
/*}*/
/*}
else
{
hearClap();
}*/
}
void loop(){
if(move){
detectLine();
keepDistance();
adjustMotor(min(motorLine_l,motorDist_l),min(motorLine_r,motorDist_r));
}
else
{
hearClap();
}
}
void loop(){
if(move){
detectLine();
keepDistance();
adjustMotor(min(motorLine_l,motorDist_l),min(motorLine_r,motorDist_r));
measureDistance();
}
else
{
detectAlone();
}
}
//The goal is update based on camera setting, doesn't quite work at the moment
//need to revise moveCam
void Camera::update(CameraSetting camSetting){
switch(camSetting){
case FREE: {
if(trackBall) camTarg = minigolfBall->position;
}break;
case TRACK_BALL:{
keepDistance();
camTarg = minigolfBall->position;
} break;
case TOP_DOWN: {
camPos = minigolfBall->position;
camPos->setY(camPos->getY() + distToKeep);
} break;
default: cout << "Cam setting not recognized" << endl; break;
}
delete camPos;
delete camTarg;
}
//The goal is update based on camera setting, doesn't quite work at the moment
//need to revise moveCam
void Camera::update(){
//printf("\nentering update");
//camPos->print();
//camTarg->print();
switch(camSetting){
case FREE: {
//test:
if(counter>0){
printf("\nbeginning of free:");
camPos->print();
camTarg->print();
counter--;
}
if(camCount != 0){
//camPos = minigolfBall->position;
printf("\nfirst time FREE, pos & targ:");
camPos->print();
camTarg->print();
printf("\nolds:");
oldCamPos->print();
oldCamTarg->print();
camPos->setPos(oldCamPos->getX(), oldCamPos->getY(), oldCamPos->getZ());
//camTarg = oldCamTarg;
printf("\nFREE, after:");
camPos->print();
camTarg->print();
printf("\nolds:");
oldCamPos->print();
oldCamTarg->print();
}
if(trackBall) camTarg = minigolfBall->position;
if(counter>0){
printf("\nleaving update, case FREE:");
camPos->print();
camTarg->print();
counter--;
}
camCount = 0;
}break;
case TRACK_BALL:{
//testremove:
keepDistance();
camTarg = minigolfBall->position;
printf("\nleaving update, case track ball");
camCount = 0;
} break;
case TOP_DOWN:{
if(camCount != 2){
printf("\nfirst time in topdown?");
camPos->print();
camTarg->print();
printf("\nolds:");
oldCamPos->print();
oldCamTarg->print();
oldCamPos->setPos(camPos->getX(), camPos->getY(), camPos->getZ());
//oldCamTarg = camTarg;
//camPos = minigolfBall->position;
setCamPos(0, 0, 0);
camPos->setZ((camPos->getZ()) + distToKeep);
printf("\ntopdown pos and trag after:");
camPos->print();
camTarg->print();
printf("\nolds:");
oldCamPos->print();
oldCamTarg->print();
}
//printf("\nleaving update, case top down");
camCount = 2;
counter = 4;
} break;
default: cout << "Cam setting not recognized" << endl; break;
}
//test:
//delete camPos;
//delete camTarg;
}
