void loop(){
DEBUG(("%d", api.getTime()));
api.getMyZRState(me);
api.getOtherZRState(other);
aboveOtherPos[0] = other[0];
aboveOtherPos[1] = other[1];
if (game.getMemoryFilled() != 2 /*&& game.getEnergy() >= 3*/) {
mathVecSubtract(vecBtwnSph, other, me, 3);
mathVecNormalize(vecBtwnSph, 3);
api.setAttitudeTarget(vecBtwnSph);
}
if ((game.getEnergy() > 3) && (game.getPicPoints() > 0) && canTakePic()) {
game.takePic();
}
if (game.getMemoryFilled() == 2) {
api.setAttitudeTarget(earth);
if (matrixEqual(me+6, earth) && game.getEnergy() >= 3) {
game.uploadPics();
}
}
state = setState();
if (game.getNumMirrorsHeld() > 0) game.useMirror();
//bunch of states
switch (state) {
case 0://Get items
DEBUG(("State 0"));
if (!(sphColor)) {
if (game.hasItem(8) == -1) {
moveFast(mir2);
}
else if (game.hasItem(4) == -1) {
if (game.getEnergy() > 3) moveFast(score2);
else api.setPositionTarget(me);
}
}
else {
if (game.hasItem(7) == -1) {
moveFast(mir1);
}
else if (game.hasItem(5) == -1) {
if (game.getEnergy() > 3) moveFast(score3);
else api.setPositionTarget(me);
}
}
//Not worth it to get the other mirror
/*else if (game.hasItem(7) == -1 && !(sphColor)) {
moveFast(mir1);
}
else if (game.hasItem(8) && sphColor) {
moveFast(mir2);
}*/
//Bottom score a waste of energy?
/*else if (game.hasItem(3) == -1) {
if (game.getEnergy() > 3) moveFast(score1);
else api.setPositionTarget(me);
}*/
//Top score object
/*else if (game.hasItem(6) == -1) {
if (game.getEnergy() > 3) moveFast(score4);
else api.setPositionTarget(me);
}*/
break;
case 1://Stay at top
DEBUG(("State 1"));
if (dist(me, other) > 0.5) {
api.setPositionTarget(aboveOtherPos);
}
else {
api.setPositionTarget(me);
}
break;
case 2://Spam upload
DEBUG(("State 2"));
if (game.getMemoryFilled() != 0 && game.getEnergy() > 2) game.uploadPics();
break;
/*case 3://Try to ram
DEBUG(("Case 3"));
moveFast(otherPos);
break;*/
}
}
void loop(){
api.getMyZRState(zrstate);
if (api.getTime()%60 == 2 && api.getTime() > 60) {
target[0] = -0.6;
target[1] = 0;
target[2] = 0;
state = 2;
}
if (state == 0) {
if (canTakePic(POI,zrstate,0.8,0.42,0.31,ID)) {
game.takePic(ID);
target[0] = 2.5*POI[0];
target[1] = 2.5*POI[1];
target[2] = 2.5*POI[2];
state = 1;
}
else {
api.setPositionTarget(target);
api.setAttitudeTarget(angle);
}
}
if (state == 1) {
if (canTakePic(POI,zrstate,0.4,0.53,0.42,ID)) {
game.takePic(ID);
target[0] = -0.6;
target[1] = 0;
target[2] = 0;
state = 2;
}
else {
api.setPositionTarget(target);
api.setAttitudeTarget(angle);
}
}
if (state == 2) {
if (mathVecMagnitude(zrstate,3) > 0.53) {
game.uploadPic();
state = 3;
}
api.setPositionTarget(target);
}
if (state == 3) {
game.takePic(ID);
if (api.getTime()%60 < 30) {
getPOI();
target[0] = 1.8*POI[0];
target[1] = 1.8*POI[1];
target[2] = 1.8*POI[2];
state = 0;
api.setAttitudeTarget(angle);
}
api.setPositionTarget(target);
if (game.getNextFlare() == 2) {
game.turnOff();
game.turnOn();
}
}
}
void loop(){
//This function is called once per second. Use it to control the satellite.
DEBUG(("%d", api.getTime()));
api.getMyZRState(me);
api.getOtherZRState(other);
myPos[0] = me[0];
myPos[1] = me[1];
myPos[2] = me[2];
otherPos[0] = other[0];
otherPos[1] = other[1];
otherPos[2] = other[2];
//Finds the dark/gray bounds
darkGray[0] = 0.0f;
darkGray[1] = game.getDarkGreyBoundary() - 0.2f;
darkGray[2] = 0.0f;
//For finding the correct attitude to point to opponent
mathVecSubtract(vecBtwnSph, otherPos, myPos, 3);
mathVecNormalize(vecBtwnSph, 3);
api.setAttitudeTarget(vecBtwnSph);
if (canTakePic() && (game.getEnergy() > 3))
game.takePic();
if (game.getMemoryFilled() == 2)
game.uploadPics();
//This has high energy comsumption
//if (canTakePic() && (game.getEnergy() > 3))
// game.takePic();
//if (game.getMemoryFilled() != 0)
// game.uploadPics();
//Gets mirror
if (counter == 0) {
if (sphColor == 0) {
if (dist(myPos, mir1) > 0.01f)
api.setPositionTarget(mir1);
else {
counter++;
}
}
else {
if (dist(myPos, mir2) > 0.01f)
api.setPositionTarget(mir2);
else {
counter++;
}
}
}
//Gets energy
if (counter == 1) {
if (dist(myPos, en4) > 0.01f) {
api.setPositionTarget(en4);
}
else {
counter++;
}
}
//Gets score
else if (counter == 2) {
if (game.posInDark(myPos) && myPos[1] < 0) {
api.setPositionTarget(en4);
}
else {
if (dist (myPos, score3) > 0.01f) {
api.setPositionTarget(score3);
}
else {
counter++;
}
}
}
//Light should be on, so activate mirror and get other score item
else if (counter == 3) {
if (game.posInLight(myPos)) {
game.useMirror();
}
if (dist(myPos, score1) > 0.01f)
api.setPositionTarget(score1);
else
counter++;
}
//Mirror time runs out, so recede back to same side
else if (counter == 4) {
if (sphColor == 0) {
if (dist(myPos, tempBlue) > 0.01f)
api.setPositionTarget(tempBlue);
else
counter++;
}
else {
if (dist(myPos, tempRed) > 0.01f)
api.setPositionTarget(tempRed);
else
counter++;
}
}
//Stay in place and take pics
else if (counter == 5) {
if (sphColor == 0) {
api.setPositionTarget(tempBlue);
}
else {
api.setPositionTarget(tempRed);
}
}
}
void loop(){
api.getMyZRState(zrstate);
if (api.getTime()%60 < 1 && api.getTime() > 20) {
target[0] = 3*POI[0];
target[1] = 3*POI[1];
target[2] = 3*POI[2];
POIS[0] = 1;
POIS[1] = 1;
POIS[2] = 1;
state = 2;
}
if (state == 0) {
if (canTakePic(POI,zrstate,0.8,0.42,0.31,ID)) {
game.takePic(ID);
if (game.getNextFlare() < 17 && game.getNextFlare() > -1) {
target[0] = 4*POI[0];
target[1] = 4*POI[1];
target[2] = 4*POI[2];
state = 2;
}
else {
target[0] = 2.5*POI[0];
target[1] = 2.5*POI[1];
target[2] = 2.5*POI[2];
state = 1;
}
}
else {
moveTo(target);
api.setAttitudeTarget(angle);
}
}
if (state == 1) {
if (canTakePic(POI,zrstate,0.4,0.53,0.42,ID)) {
game.takePic(ID);
POIS[ID] = 0;
target[0] = 3*POI[0];
target[1] = 3*POI[1];
target[2] = 3*POI[2];
state = 2;
}
else {
moveTo(target);
api.setAttitudeTarget(angle);
}
}
if (state == 2) {
if (mathVecMagnitude(zrstate,3) > 0.53) {
game.uploadPic();
target[0] = 2.9*POI[0];
target[1] = 2.9*POI[1];
target[2] = 2.9*POI[2];
state = 3;
}
moveTo(target);
}
if (state == 3) {
game.takePic(ID);
if (api.getTime()%60 < 40) {
ID = getClosestPOI(POI,POI0,POI1,POI2, POIS, zrstate);
getPOI(POI,ID);
float tmp[3];
mathVecSubtract(tmp,zrstate,POI,3);
if (mathVecMagnitude(tmp,3) <= 0.65) {
target[0] = 1.8*POI[0];
target[1] = 1.8*POI[1];
target[2] = 1.8*POI[2];
state = 0;
api.setAttitudeTarget(angle);
}
}
api.setPositionTarget(target);
if (game.getNextFlare() == 2) {
game.turnOff();
game.turnOn();
}
}
}
