NewPing::NewPing(uint8_t trigger_pin, uint8_t echo_pin, unsigned int max_cm_distance) {
#if DO_BITWISE == true
_triggerBit = digitalPinToBitMask(trigger_pin); // Get the port register bitmask for the trigger pin.
_echoBit = digitalPinToBitMask(echo_pin); // Get the port register bitmask for the echo pin.
_triggerOutput = portOutputRegister(digitalPinToPort(trigger_pin)); // Get the output port register for the trigger pin.
_echoInput = portInputRegister(digitalPinToPort(echo_pin)); // Get the input port register for the echo pin.
_triggerMode = (uint8_t *) portModeRegister(digitalPinToPort(trigger_pin)); // Get the port mode register for the trigger pin.
#else
_triggerPin = trigger_pin;
_echoPin = echo_pin;
#endif
set_max_distance(max_cm_distance); // Call function to set the max sensor distance.
#if (defined (__arm__) && (defined (TEENSYDUINO) || defined(PARTICLE))) || DO_BITWISE != true
pinMode(echo_pin, INPUT); // Set echo pin to input (on Teensy 3.x (ARM), pins default to disabled, at least one pinMode() is needed for GPIO mode).
pinMode(trigger_pin, OUTPUT); // Set trigger pin to output (on Teensy 3.x (ARM), pins default to disabled, at least one pinMode() is needed for GPIO mode).
#endif
#if defined (ARDUINO_AVR_YUN)
pinMode(echo_pin, INPUT); // Set echo pin to input for the Arduino Yun, not sure why it doesn't default this way.
#endif
#if ONE_PIN_ENABLED != true && DO_BITWISE == true
*_triggerMode |= _triggerBit; // Set trigger pin to output.
#endif
}
void CharacterCamera::_set(const String& p_name, const Variant& p_value) {
if (p_name=="type")
set_camera_type((CameraType)((int)(p_value)));
else if (p_name=="orbit")
set_orbit(p_value);
else if (p_name=="height")
set_height(p_value);
else if (p_name=="inclination")
set_inclination(p_value);
else if (p_name=="max_orbit_x")
set_max_orbit_x(p_value);
else if (p_name=="min_orbit_x")
set_min_orbit_x(p_value);
else if (p_name=="max_distance")
set_max_distance(p_value);
else if (p_name=="min_distance")
set_min_distance(p_value);
else if (p_name=="distance")
set_distance(p_value);
else if (p_name=="clip")
set_clip(p_value);
else if (p_name=="autoturn")
set_autoturn(p_value);
else if (p_name=="autoturn_tolerance")
set_autoturn_tolerance(p_value);
else if (p_name=="autoturn_speed")
set_autoturn_speed(p_value);
}
/**
* @brief Calculates the direction and the speed of the movement
* depending on the target.
*/
void TargetMovement::recompute_movement() {
if (target_entity != NULL) {
// the target may be a moving entity
target_x = target_entity->get_x();
target_y = target_entity->get_y();
}
if (get_x() != target_x || get_y() != target_y) {
finished = false;
double angle = Geometry::get_angle(get_x(), get_y(), target_x, target_y);
int dx = target_x - get_x();
int dy = target_y - get_y();
sign_x = (dx >= 0) ? 1 : -1;
sign_y = (dy >= 0) ? 1 : -1;
if (std::fabs(angle - get_angle()) > 1E-6 || get_speed() < 1E-6) {
set_speed(speed);
set_angle(angle);
set_max_distance((int) Geometry::get_distance(
get_x(), get_y(), target_x, target_y));
}
}
}
unsigned int NewPing::ping(unsigned int max_cm_distance) {
if (max_cm_distance > 0) set_max_distance(max_cm_distance); // Call function to set a new max sensor distance.
if (!ping_trigger()) return NO_ECHO; // Trigger a ping, if it returns false, return NO_ECHO to the calling function.
#if URM37_ENABLED == true
#if DO_BITWISE == true
while (!(*_echoInput & _echoBit)) // Wait for the ping echo.
#else
while (!digitalRead(_echoPin)) // Wait for the ping echo.
#endif
if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.
#else
#if DO_BITWISE == true
while (*_echoInput & _echoBit) // Wait for the ping echo.
#else
while (digitalRead(_echoPin)) // Wait for the ping echo.
#endif
if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.
#endif
return (micros() - (_max_time - _maxEchoTime) - PING_OVERHEAD); // Calculate ping time, include overhead.
}
void NewPing::ping_timer(void (*userFunc)(void), unsigned int max_cm_distance) {
if (max_cm_distance > 0) set_max_distance(max_cm_distance); // Call function to set a new max sensor distance.
if (!ping_trigger()) return; // Trigger a ping, if it returns false, return without starting the echo timer.
timer_us(ECHO_TIMER_FREQ, userFunc); // Set ping echo timer check every ECHO_TIMER_FREQ uS.
}
/**
* @brief Notifies this movement that the object it controls has changed.
*/
void RandomMovement::notify_object_controlled() {
StraightMovement::notify_object_controlled();
set_max_distance(max_distance);
}
/**
* @brief Sets the entity to be controlled by this movement object.
* @param entity the entity to control
*/
void RandomMovement::set_entity(MapEntity *entity) {
Movement::set_entity(entity);
set_max_distance(max_distance);
}
