void OmniRobot::gamepadButton(int button, int pressed)
{
if (pressed == 0) return;
switch (omniState)
{
case INIT_MODE:
switch (button)
{
case 1: movementMode = ROTATE_MAX_MODE; break;
case 2: movementMode = ROTATE_POINT_MODE; break;
case 3: movementMode = ROTATE_MODE; break;
case 5: movementMode = ANDROID_MODE; period = 10; break;
}
omniState = CONTROL_MODE;
startControl();
break;
case CONTROL_MODE:
qDebug() << "INIT_MODE";
init();
omniState = INIT_MODE;
brick.stop();
timer.stop();
disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl()));
break;
default:
brick.stop();
timer.stop();
disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl()));
}
}
task main()
{
while(true)
{
omniControl(vexRT[Ch3], vexRT[Ch4], vexRT[Ch1]);
}
}
void OmniRobot::startControl()
{
brick.stop();
timer.stop();
qDebug() << "CONTROL_MODE";
connect(&timer, SIGNAL(timeout()), this, SLOT(omniControl()));
timer.start(period);
}
void OmniRobot::getButton(int code, int value)
{
if (value != 1)
return;
qDebug() << "INIT_MODE";
omniState = INIT_MODE;
init();
brick.stop();
timer.stop();
disconnect(&timer, SIGNAL(timeout()), this, SLOT(omniControl()));
}