void person()
{
torso();
glPushMatrix();
head();
glPopMatrix();
glPushMatrix();
upper_right_arm();
lower_arm();
hand();
glPopMatrix();
glPushMatrix();
upper_left_arm();
lower_arm();
hand();
glPopMatrix();
glPushMatrix();
upper_right_leg();
lower_leg();
glPopMatrix();
glPushMatrix();
upper_left_leg();
lower_leg();
glPopMatrix();
}
void renderScene()
{
// Clear framebuffer & depth buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//Enable lighting
glEnable(GL_LIGHTING);
//Set the material properties
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, emerald_ambient);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, emerald_diffuse);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, emerald_specular);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, emerald_shininess);
// Reset Modelview matrix
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// Set view position & direction
// (Camera at (0,0,5) looking down the negative Z-axis)
gluLookAt(0, 0, 5, 0, 0, -1, 0, 1, 0);
torso();
glPushMatrix();
head();
glPopMatrix();
glPushMatrix();
upper_right_arm();
lower_arm();
hand();
glPopMatrix();
glPushMatrix();
upper_left_arm();
lower_arm();
hand();
glPopMatrix();
glPushMatrix();
upper_right_leg();
lower_leg();
glPopMatrix();
glPushMatrix();
upper_left_leg();
lower_leg();
glPopMatrix();
glutSwapBuffers();
}
// We are going to override (is that the right word?) the draw()
// method of ModelerView to draw out RobotArm
void RobotArm::draw()
{
/* pick up the slider values */
float theta = VAL( BASE_ROTATION );
float phi = VAL( LOWER_TILT );
float psi = VAL( UPPER_TILT );
float cr = VAL( CLAW_ROTATION );
float h1 = VAL( BASE_LENGTH );
float h2 = VAL( LOWER_LENGTH );
float h3 = VAL( UPPER_LENGTH );
float pc = VAL( PARTICLE_COUNT );
// This call takes care of a lot of the nasty projection
// matrix stuff
ModelerView::draw();
static GLfloat lmodel_ambient[] = { 0.4, 0.4, 0.4, 1.0 };
Mat4f temp = getModelViewMatrix();
// define the model
ground(-0.2);
if (true) {
Ariou();
} else {
base(0.8);
glTranslatef( 0.0, 0.8, 0.0 ); // move to the top of the base
glRotatef( theta, 0.0, 1.0, 0.0 ); // turn the whole assembly around the y-axis.
rotation_base(h1); // draw the rotation base
glTranslatef( 0.0, h1, 0.0 ); // move to the top of the base
glRotatef( phi, 0.0, 0.0, 1.0 ); // rotate around the z-axis for the lower arm
glTranslatef( -0.1, 0.0, 0.4 );
lower_arm(h2); // draw the lower arm
glTranslatef( 0.0, h2, 0.0 ); // move to the top of the lower arm
glRotatef( psi, 0.0, 0.0, 1.0 ); // rotate around z-axis for the upper arm
upper_arm(h3); // draw the upper arm
glTranslatef( 0.0, h3, 0.0 );
glRotatef(cr, 0.0, 0.0, 1.0);
claw(1.0);
SpawnParticles(temp);
}
//*** DON'T FORGET TO PUT THIS IN YOUR OWN CODE **/
endDraw();
}
// We are going to override (is that the right word?) the draw()
// method of ModelerView to draw out RobotArm
void RobotArm::draw()
{
/* pick up the slider values */
float theta = baseRotation.getValue();
float phi = lowerTilt.getValue();
float psi = upperTilt.getValue();
float cr = clawRotation.getValue();
float h1 = baseLength.getValue();
float h2 = lowerLength.getValue();
float h3 = upperLength.getValue();
static GLfloat lmodel_ambient[] = {0.4,0.4,0.4,1.0};
// define the model
ground(-0.2);
base(0.8);
glTranslatef( 0.0, 0.8, 0.0 ); // move to the top of the base
glRotatef( theta, 0.0, 1.0, 0.0 ); // turn the whole assembly around the y-axis.
rotation_base(h1); // draw the rotation base
glTranslatef( 0.0, h1, 0.0 ); // move to the top of the base
glRotatef( phi, 0.0, 0.0, 1.0 ); // rotate around the z-axis for the lower arm
glTranslatef( -0.1, 0.0, 0.4 );
lower_arm(h2); // draw the lower arm
glTranslatef( 0.0, h2, 0.0 ); // move to the top of the lower arm
glRotatef( psi, 0.0, 0.0, 1.0 ); // rotate around z-axis for the upper arm
upper_arm(h3); // draw the upper arm
glTranslatef( 0.0, h3, 0.0 );
glRotatef( cr, 0.0, 0.0, 1.0 );
claw(1.0);
}
int main()
{
struct cbcRobot robot = {0,3,150,55,1100}; //Define the robot. 0 and 3 are the motor ports,
//150 mm is the wheel distance
//55 is wheel diameter, 1100 is ticks per rotation
light_it_up(4); //Wait for the light to turn on
set_servo_position(arm_servo, top_pos); //Set the arm servo to the top position
shut_down_in(118.0); //Shut down in 118 seconds
//msleep(5000); //Wait 5 seconds
float initial_time=seconds(); //Create a variable that records the initial time
cbc_align(400); //Align with both of the top hats on the black line
ao();
cbc_align_white(300);
lower_arm(600); //Lower claw and open arm
open_claw(600);
cbc_straight(140, 800); //Straight out to get away from pvc
wait_for_cbc();
cbc_arc_left(160, 135, 100); //Get past pvc to lower arm and open claw
wait_for_cbc();
cbc_straight(180, 800); //Go straight into tribbles
wait_for_cbc();
close_claw(1000); //Close claw on tribbles
cbc_straight(280, 800);
wait_for_cbc();
raise_arm(1200); //Raise the arm
msleep(800);
cbc_arc_right(180, 34, 80); //Arc right to get into position to approach the lattice wall
wait_for_cbc();
cbc_touch(700, 5000); //Bump into lattice wall
msleep(300);
cbc_straight(-100, 600); //Back up 10 cm from wall
wait_for_cbc();
open_claw(800); //Open claw to release tribbles and turn 94 degrees right
cbc_spin(-94, 500);
wait_for_cbc();
cbc_straight(120, 700); //Go forward into the turnstile and lower arm to mid position
arm_mid(2000);
msleep(1200);
cbc_spin(20, 500); //Turn 20 degrees left to hit the turnstile out of the way
wait_for_cbc();
msleep(200);
cbc_spin(-16, 700); //Turn back 16 degrees to the right and close the claw
close_claw(800);
wait_for_cbc();
cbc_straight(-280, 800); //Go backwards to get into position to grab the tribbles
wait_for_cbc();
lower_arm(1000); //Lower the arm and open the claw
msleep(800);
open_claw(800);
msleep(1000);
cbc_spin(8,700); //Turn 8 degrees to get ready to grab the tribbles
wait_for_cbc();
cbc_arc_left(1500, 6, 100); //Go nearly straight into the tribbles
wait_for_cbc();
close_claw(200); //Go forward and grab the tribbles
cbc_straight(200, 600);
wait_for_cbc();
close_claw(600);
msleep(800);
cbc_straight(-60, 600); //Back up to clear the turnstile
raise_arm(1000);
wait_for_cbc();
cbc_spin(4,700); //Turn slightly left
wait_for_cbc();
follow_tape_left(600); //Run into the turnstile for horizonal alignment
cbc_straight(-100, 400); //Back up before crossing over to the other side
wait_for_cbc();
cbc_spin(90, 500); //Turn 90 degrees to the left
wait_for_cbc();
cbc_straight(-80, 600); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
cbc_straight(-50, 300); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
cbc_straight(540,800); //Go forward to the other side
wait_for_cbc();
open_claw(1000); //Open the claw to release tribbles and arc right approximately 100 degrees
mrp(robot.leftWheel,780,2340);
mrp(robot.rightWheel,400,1200);
bmd(robot.leftWheel);
bmd(robot.rightWheel);
msleep(200L);
lower_arm(1400);//Go forward and lower the arm
msleep(500L);
cbc_straight(370, 800);
wait_for_cbc();
close_claw(1000); //Go forward and close the claw
cbc_straight(300,800);
wait_for_cbc();
raise_arm(1500); //Raise the arm
msleep(800);
cbc_spin(-73,500); //Turn 73 degrees right
wait_for_cbc();
open_claw(1000); //Run into the lattice wall and open the claw to release the tribbles
cbc_touch(500, 5000);
cbc_straight(-80, 600); //Back up 8 cm from wall
wait_for_cbc();
cbc_spin(-92, 500); //Turn 92 degrees right and close the claw
close_claw(1000);
wait_for_cbc();
cbc_straight(-80, 600); //Go backwards to get into position to grab the tribbles
wait_for_cbc();
lower_arm(1500); //Lower the arm and open the claw
msleep(800);
open_claw(800);
msleep(1000);
cbc_spin(4,700); //Turn a bit in order to put the robot in an optimal tribble gathering position
wait_for_cbc();
cbc_arc_left(1500, 6, 100); //Go nearly straight into the tribbles
wait_for_cbc();
close_claw(200); //Go forward and grab tribbles
cbc_straight(180, 600);
wait_for_cbc();
close_claw(600);
msleep(800);
cbc_straight(-80, 400); //Back up to clear the turnstile
wait_for_cbc();
raise_arm(1200); //Raise the arm
msleep(500);
cbc_straight(220, 700); //Go forward into the turnstile
wait_for_cbc();
cbc_spin(80, 500); //Turn 80 degrees to the left
wait_for_cbc();
cbc_straight(-80, 600); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
cbc_straight(-50, 300); //Back up and align with the black tape
wait_for_cbc();
cbc_align(400);
ao();
//cbc_straight(1080, 800); //Old go forward function
//wait_for_cbc();
mrp(robot.rightWheel,825,7700); //Go forward and correct the non-straightness of the motors
mrp(robot.leftWheel,800,7700);
wait_for_cbc();
cbc_touch(500, 5000); //Run into the wall
msleep(300);
cbc_straight(-125, 600); //Back up 12.5 cm from wall
wait_for_cbc();
cbc_spin(90, 500); //Turn 90 degrees to the left
wait_for_cbc();
while(analog10(et_right)<850) //While the tape is not seen by the right top hat
{
mav(robot.rightWheel,615); //Go forward
mav(robot.leftWheel,600);
msleep(25L);
}
off(robot.rightWheel); //Turn the motors off
off(robot.leftWheel);
cbc_straight(240, 700); //Go forward to get under the injection chute
wait_for_cbc();
msleep(8000); //Wait for the injection chute tribbles to be loaded up
cbc_straight(250, 700); //Go forward into the wall
wait_for_cbc();
cbc_straight(-40, 600); //Back up 4 cm from pvc
wait_for_cbc();
arm_mid(1000); //Lower the arm to the mid position and open the claw
msleep(800);
open_claw(800);
msleep(800);
cbc_straight(-40, 600); //Back up 4 cm from pvc
wait_for_cbc();
close_claw(1000); //Turn around 180 degrees and close the claw
cbc_spin(180,600);
wait_for_cbc();
cbc_straight(-80, 480); //Back up to wall
wait_for_cbc();
lower_arm(1400); //Lower the arm
msleep(800L);
mrp(dump_mot, 200, 500); //Dump the tribble into the MPA
bmd(dump_mot);
msleep(1000);
mrp(dump_mot, 200, -500); //Dump the tribble into the MPA
bmd(dump_mot);
mrp(dump_mot, 200, 500); //Dump the tribble into the MPA
bmd(dump_mot);
mrp(dump_mot, 200, -500); //Dump the tribble into the MPA
bmd(dump_mot);
float time = seconds() - initial_time; //Create a variable that represents the time taken for the robot to complete its program
cbc_display_clear(); //Clear the CBC display and then print the time the robot took to complete its program
printf("Time: %f",time);
return 0;
}
