void gotoCoords(float newX, float newZ, float newO) {
/*
This is a work-in-progress!!!!
This will go to the specified coordinates and rotate to the specified angle, assuming the PID is working
correctly. This is a very systematic function, only use when absolutely necessary!
*/
while (readValues('o') != 90) { // very low tolerance
rotateWithOrientation(1, 25); // very slow, and low rotation to insure accuracy
}
if (newX < x) {
while (readValues('x') > newX)
moveWithDirection(1, -25); // Low and slow is the way to go!
}
else if (newX > x) {
while (readValues('x') < newX)
moveWithDirection(1, -25);
}
while (readValues('o') != 0) {
rotateWithOrientation(1, 25);
}
if (newZ < z) {
while (readValues('z') > newZ)
moveWithDirection(1, -25); // Low and slow is the way to go!
}
else if (newZ > z) {
while (readValues('z') < newZ)
moveWithDirection(1, -25);
}
while (readValues('o') != newO)
rotateWithOrientation(1, 25);
setCoords(newX, newZ, newO);
}
void SimpleMoveComponent::moveTo(CCPoint to)
{
CCPoint pos=((CCNode*)m_pOwner)->getPosition();
float dx=to.x-pos.x;
float dy=to.y-pos.y;
CCLOG("moveTo:%f,%f, diff:%f,%f",to.x,to.y,dx,dy);
if(dx>0 || dy>0){
float s=sqrtf(dx*dx+dy*dy);
float directionX=dx/s;
float directionY=dy/s;
m_directionFlagX=dx>0?1:dx<0?-1:0;
m_directionFlagY=dy>0?1:dy<0?-1:0;
setTo(to);
moveWithDirection(directionX, directionY,true);
}
}
/**
* 按指定方向偏移量,这里不考虑速度叠加.
*/
void SimpleMoveComponent::moveWithDirection(float directionX ,float directionY)
{
moveWithDirection(directionX, directionY, false);
}
void SimpleMoveComponent::moveWithDirection(float direction)
{
moveWithDirection(direction,false);
}