void return_to_origin()
{
set_point(0, 0);
//returns the robot to the origin position.
turnRight(PHASE1_SPEED, PHASE1_SLOW, (2 * M_PI - bearing) * RADIANS_TO_DEGREES); //get the robot to face origin
double dist_to_origin = getDistance(xpos, ypos, 0, 0);
moveForwards(PHASE1_SPEED, PHASE1_SLOW, dist_to_origin * CM_TO_ENCODER); //move to origin
fixBearing(0); //resets robot's bearing to face upwards
}
void FreeCamera::update(double deltaTime) {
float vel = inputVector.z ? slowVelocity : velocity;
if (inputVector.x < 0)
moveForwards((float)-inputVector.x * vel * (float)deltaTime);
else if (inputVector.x > 0)
moveBackwards((float)inputVector.x * vel * (float)deltaTime);
if (inputVector.y < 0)
strafeLeft((float)-inputVector.y * vel * (float)deltaTime);
else if (inputVector.y > 0)
strafeRight((float)inputVector.y * vel * (float)deltaTime);
}
// Decides which kind of movement the tank will do with the given signal read from tty port
void move(int signal) {
if(signal == 1 ){
moveForwards(1);
}else if(signal == 2){
moveBackwards(1);
}else if(signal == 3){
turnLeft(1);
}else if(signal == 4){
turnRight(1);
}else if(signal == 0){
stop();
}
}
char* getPath(int startx, int starty, int destx, int desty)
{
//moves the robot from a square to another (in the grid where start = (0, 0)), following left wall, and records the path taken.
int left, right, index = 0, currentx = startx, currenty = starty; //stores current position of robot in the grid in currentx and currenty
int idealBearing = getIdealBearing();
char* path = malloc(sizeof(char) * PATH_MAX_LENGTH);
while (currentx != destx || currenty != desty)
{
get_front_ir_dists(&left, &right);
int front = get_us_dist();
/*if(front < MAX_DIST_TO_WALL)
{
checkFrontWall(front);
}*/
//checks accurancy of the robot's calculated current position vs its real position
log_trail();
set_point(xpos, ypos);
if(left > MAX_DIST_TO_WALL)
{
//turn left
turnLeft(PHASE1_SPEED, PHASE1_SLOW, 90);
idealBearing -= 90;
if(idealBearing < 0) { idealBearing += 360; }
path[index] = 'L';
}
else if(front > MAX_DIST_TO_WALL)
{
//go straight
path[index] = 'S';
}
else if(right > MAX_DIST_TO_WALL)
{
//turn right
turnRight(PHASE1_SPEED, PHASE1_SLOW, 90);
idealBearing += 90;
if(idealBearing >= 360) { idealBearing -= 360; }
path[index] = 'R';
}
else
{
//turn around
turnRight(PHASE1_SPEED, PHASE1_SLOW, 180);
idealBearing += 180;
if(idealBearing >= 360) { idealBearing -= 360; }
path[index] = 'B';
}
fixBearing(idealBearing);
moveForwards(PHASE1_SPEED, PHASE1_SLOW, SQUARE_DIST * CM_TO_ENCODER);
//uses robot's idealBearing to figure out which square in the grid the robot is currently in after moving
switch(idealBearing)
{
case 0: currenty++; break;
case 90: currentx++; break;
case 180: currenty--; break;
case 270: currentx--; break;
default: printf("Error: unexpected value for idealBearing\n"); break;
}
index++;
}
path[index] = '\0';
return path;
}
void main() {
// I/O structures
inputs iMem;
outputs oMem = {0};
// Ports mapping
INTCON = 0;
// Outputs
TRISC = 0;
PORTC = 0;
TRISD = 0;
PORTD = 0;
// Input
TRISB = 0xff;
// Cleans ports
syncOutputs(&oMem);
// Updates inbound
freezeInputs(&iMem);
// Turns on READY LED
oMem.delReady = 1;
// Turns on WAITING LED
oMem.delWaiting = 1;
// If in debug mode, turns on DEBUG LED
if (DBGMODE) oMem.delDebug = 1;
// Stops motors (just in case)
moveStops(&oMem);
// Commit on ports
syncOutputs(&oMem);
// Wait until user press on start
while (!iMem.startButton) freezeInputs(&iMem);
// Turns off READY and WAITING LEDs
oMem.delReady = 0;
oMem.delWaiting = 0;
// Turns on RUNNING LED
oMem.delRun = 1;
// Commits
syncOutputs(&oMem);
// Main loop
do {
// Gets a snapshot of the inputs to prevent such issues as in bug #24
freezeInputs(&iMem);
// Commit output changes
syncOutputs(&oMem);
// Distance checks
// If obstacle is "FAR AWAY", we continue forward
if (obstacleDistanceIsFaraway(iMem)) {
moveForwards(&oMem);
// If obsacle is close, but not too much, we turns left
} else if (obstacleDistanceIsOk(iMem)) {
moveTurnsLeft(&oMem);
// If obstacle is too close, we stops motors and stops the program
} else {
moveStops(&oMem);
break;
}
} while (1);
// This is the shutdown program, executed when the infinite loop
// is broken.
// We turns off the RUN LED and turns on the ERROR LED
oMem.delRun = 0;
oMem.delError = 1;
// Just in case, we stops the motors.
moveStops(&oMem);
// Sync
syncOutputs(&oMem);
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
for (int i = 0; i < MaxRecentFiles; ++i)
{
recentFileActions[i] = new QAction(this);
recentFileActions[i]->setVisible(false);
connect(recentFileActions[i], SIGNAL(triggered()), this, SLOT(openRecentFile()));
ui->menuFile->insertAction(ui->actionExit, recentFileActions[i]);
}
recentFilesSeparator = ui->menuFile->insertSeparator(ui->actionExit);
form = new Form(this);
view = new GraphicsView(form, this);
setCentralWidget(view);
itemWidget = new ItemWidget(ui->propertyWidget);
itemWidget->setHidden(true);
connect(view, SIGNAL(mouseDoubleClick()), itemWidget, SLOT(selectPicture()));
formWidget = new FormWidget(ui->propertyWidget);
formWidget->connectForm(form);
formWidget->update(form);
ui->propertyWidget->setWidget(formWidget);
fontCombo = new QFontComboBox(this);
ui->formatToolBar->insertWidget(ui->actionBold, fontCombo);
insertGroup = new QActionGroup(this);
insertGroup->addAction(ui->actionSelect);
insertGroup->addAction(ui->actionPaint);
connect(insertGroup, SIGNAL(triggered(QAction*)), this, SLOT(insertObject(QAction*)));
ui->actionLeft->setData(Qt::AlignLeft);
ui->actionCenter->setData(Qt::AlignHCenter);
ui->actionRight->setData(Qt::AlignRight);
zoomGroup = new QActionGroup(this);
zoomGroup->addAction(ui->actionActualSize);
zoomGroup->addAction(ui->actionFitWidth);
zoomGroup->addAction(ui->actionFitHeight);
connect(zoomGroup, SIGNAL(triggered(QAction*)), this, SLOT(zoom(QAction*)));
ui->actionActualSize->setData(GraphicsView::ActualSize);
ui->actionFitWidth->setData(GraphicsView::FitWidth);
ui->actionFitHeight->setData(GraphicsView::FitHeight);
horzAlignGroup = new QActionGroup(this);
horzAlignGroup->addAction(ui->actionLeft);
horzAlignGroup->addAction(ui->actionCenter);
horzAlignGroup->addAction(ui->actionRight);
connect(horzAlignGroup, SIGNAL(triggered(QAction*)), this, SLOT(horzAlign(QAction*)));
sizeGroup = new QActionGroup(this);
sizeGroup->addAction(ui->actionShrinkWidth);
sizeGroup->addAction(ui->actionGrowWidth);
sizeGroup->addAction(ui->actionPageWidth);
sizeGroup->addAction(ui->actionShrinkHeight);
sizeGroup->addAction(ui->actionGrowHeight);
sizeGroup->addAction(ui->actionPageHeight);
sizeGroup->addAction(ui->actionShrinkBoth);
sizeGroup->addAction(ui->actionGrowBoth);
sizeGroup->addAction(ui->actionPageBoth);
ui->actionShrinkWidth->setData(Form::ShrinkWidth);
ui->actionGrowWidth->setData(Form::GrowWidth);
ui->actionPageWidth->setData(Form::PageWidth);
ui->actionShrinkHeight->setData(Form::ShrinkHeight);
ui->actionGrowHeight->setData(Form::GrowHeight);
ui->actionPageHeight->setData(Form::PageHeight);
ui->actionShrinkBoth->setData(Form::ShrinkBoth);
ui->actionGrowBoth->setData(Form::GrowBoth);
ui->actionPageBoth->setData(Form::PageBoth);
connect(sizeGroup, SIGNAL(triggered(QAction*)), this, SLOT(size(QAction*)));
connect(ui->actionNew, SIGNAL(triggered()), this, SLOT(newForm()));
connect(ui->actionOpen, SIGNAL(triggered()), this, SLOT(openForm()));
connect(ui->actionReload, SIGNAL(triggered()), this, SLOT(reload()));
connect(ui->actionSave, SIGNAL(triggered()), this, SLOT(saveForm()));
connect(ui->actionSaveAs, SIGNAL(triggered()), this, SLOT(saveFormAs()));
connect(ui->actionSaveAsPDF, SIGNAL(triggered()), this, SLOT(saveFormAsPdf()));
connect(ui->actionAbout, SIGNAL(triggered()), this, SLOT(about()));
connect(ui->actionOpenPrintData, SIGNAL(triggered()), this, SLOT(openPrintData()));
connect(ui->actionPageSetup, SIGNAL(triggered()), form, SLOT(pageSetup()));
connect(ui->actionPagePreview, SIGNAL(triggered()), this, SLOT(preview()));
connect(ui->actionSend, SIGNAL(triggered()), this, SLOT(email()));
connect(ui->actionPrint, SIGNAL(triggered()), this, SLOT(print()));
connect(ui->actionFullScreen, SIGNAL(triggered()), this, SLOT(fullScreen()));
connect(ui->actionMargins, SIGNAL(toggled(bool)), form, SLOT(showMargins(bool)));
connect(ui->actionGrid, SIGNAL(toggled(bool)), form, SLOT(showGrid(bool)));
connect(ui->actionPrintData, SIGNAL(toggled(bool)), form, SLOT(showData(bool)));
connect(ui->actionSelectAll, SIGNAL(triggered()), form, SLOT(selectAll()));
connect(ui->actionDelete, SIGNAL(triggered()), form, SLOT(deleteSelected()));
connect(ui->actionProperties, SIGNAL(toggled(bool)), ui->propertyWidget, SLOT(setVisible(bool)));
connect(ui->actionMoveForwards, SIGNAL(triggered()), form, SLOT(moveForwards()));
connect(ui->actionMoveBackwards, SIGNAL(triggered()), form, SLOT(moveBackwards()));
connect(ui->actionAlignLeft, SIGNAL(triggered()), form, SLOT(alignLeft()));
connect(ui->actionAlignRight, SIGNAL(triggered()), form, SLOT(alignRight()));
connect(ui->actionAlignTop, SIGNAL(triggered()), form, SLOT(alignTop()));
connect(ui->actionAlignBottom, SIGNAL(triggered()), form, SLOT(alignBottom()));
connect(ui->actionCut, SIGNAL(triggered()), form, SLOT(cut()));
connect(ui->actionCopy, SIGNAL(triggered()), form, SLOT(copy()));
connect(ui->actionPaste, SIGNAL(triggered()), this, SLOT(paste()));
connect(ui->actionFirstPage, SIGNAL(triggered()), this, SLOT(firstPage()));
connect(ui->actionPreviousPage, SIGNAL(triggered()), this, SLOT(previousPage()));
connect(ui->actionNextPage, SIGNAL(triggered()), this, SLOT(nextPage()));
connect(ui->actionLastPage, SIGNAL(triggered()), this, SLOT(lastPage()));
connect(ui->menuView, SIGNAL(aboutToShow()), this, SLOT(updateViewMenu()));
connect(form, SIGNAL(selectionChanged()), this, SLOT(selectionChanged()));
connect(form, SIGNAL(changed()), this, SLOT(formChanged()));
connect(view, SIGNAL(doneRubberBanding(QRectF)), this, SLOT(doneRubberBanding(QRectF)));
connectForm();
loadSettings();
QTimer::singleShot(0, this, SLOT(init()));
}
