void turnBack(){
clear_motor_position_counter(LM);
clear_motor_position_counter(RM);
mtp(LM, 1500, ONE_CIRCLE);
mtp(RM, -1500, -1 * ONE_CIRCLE);
bmd(LM);
bmd(RM);
}
void turnRight(){
clear_motor_position_counter(LM);
clear_motor_position_counter(RM);
mtp(LM, 1500,HALF_CIRCLE);
mtp(RM, -1500, -1 * HALF_CIRCLE);
bmd(LM);
bmd(RM);
}
// move:
void moveStraight(int distance)
{
clear_motor_position_counter(c_ileftMotor);
clear_motor_position_counter(c_irightMotor);
mtp(c_ileftMotor, c_iforwardSpeed, distance);
mtp(c_irightMotor, c_iforwardSpeed, distance);
bmd(c_ileftMotor);
bmd(c_irightMotor);
}
void collectBall(){
motor(FM, FM_COLLECT);
clear_motor_position_counter(LM);
clear_motor_position_counter(RM);
mtp(LM, LM_SP_STR2, 800);
mtp(RM, RM_SP_STR2, 800);
bmd(LM);
bmd(RM);
motor(FM, 0);
// move and collect rest balls
}
void collectBall(){
motor(FM, FM_COLLECT);
clear_motor_position_counter(LM);
clear_motor_position_counter(RM);
mtp(LM, 1500, 1000);
mtp(RM, 1500, 1000);
bmd(LM);
bmd(RM);
motor(FM, 0);
msleep(2500);
// move and collect rest balls
}
/*
* Class: Motor
* Method: mtp
* Signature: (III)I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Motor_mtp(JNIEnv* env, jobject obj, jint port, jint speed, jint delta)
{
#ifdef CBC
return mtp(port, speed, delta);
#else
printf("Java_cbccore_low_Motor_mtp stub\n");
return -1;
#endif
}
void turn_left()
{
motor(0,0);
motor(2,0);
clear_motor_position_counter(2);
mtp(2, 1500, 1300);
block_motor_done(2);
}
void turn_right()
{
motor(0,0);
motor(2,0);
clear_motor_position_counter(0);
mtp(0, 1000, 850); // this is what got changed from 1050 to 950 to 850
block_motor_done(0);
}
void turn_right()
{
motor(0,0);
motor(2,0);
clear_motor_position_counter(0);
mtp(0, 1000, 1050);
block_motor_done(0);
}
void moveFor(){
int frontDis = analog_et(FSS);
int backDis = analog_et(BSS);
int disDiff = frontDis - backDis;
int turnLM = MOVE_FOR_TP - disDiff * KDp;
int turnRM = MOVE_FOR_TP + disDiff * KDp;
while(frontDis > 295){
motor(LM, turnLM);
motor(RM, turnRM);
frontDis = analog_et(FSS);
backDis = analog_et(BSS);
printf("%d\t%d\n", frontDis, backDis);
disDiff = frontDis - backDis;
turnLM = MOVE_BACK_TP - disDiff * KDp;
turnRM = MOVE_BACK_TP + disDiff * KDp;
}
clear_motor_position_counter(LM);
clear_motor_position_counter(RM);
mtp(LM, 800, 500);
mtp(RM, 800, 500);
bmd(LM);
bmd(RM);
clear_motor_position_counter(LM);
clear_motor_position_counter(RM);
mtp(LM, 800, 260);
mtp(RM, -800, -260);
bmd(LM);
bmd(RM);
while(analog(RSS) < RSS_OFFSET){
motor(RM, 82);
motor(LM, 90);
}
while(analog(RSS) > RSS_OFFSET){
motor(RM, 82);
motor(LM, 90);
}
while(analog(RSS) < RSS_OFFSET){
motor(RM, 82);
motor(LM, 90);
}
}
void FORTE_MotorPOS::executeEvent(int pa_nEIID){
//TODO MotorPOS add error checks and messages
QO() = QI();
switch (pa_nEIID){
case scm_nEventINITID:
if(true == QI()){
if(PORT() <= 3){
libcbc_init(); //TODO: only call once //initialises the CBC Library :)
m_nPort = PORT();
QO() = true; /* Turned on and No Error */
}
else{
QO() = false;
}
}
sendOutputEvent(scm_nEventINITOID);
break;
case scm_nEventREQID:
if(true == QI()){
if(true == RELPOS())
mrp(m_nPort, 1000, POS());
else
mtp(m_nPort, 1000, POS());
}
sendOutputEvent(scm_nEventCNFID);
break;
case scm_nEventRSPID:
//TODO respond to IND
break;
case scm_nEventSTOPID:
if(true == QI()){
motor(m_nPort, 0);
if(true == FREEZE()){
freeze(m_nPort);
}
else{
off(m_nPort);
}
}
sendOutputEvent(scm_nEventSTOPOID);
break;
}
}
void QgsPointPatternFillSymbolLayer::startRender( QgsSymbolV2RenderContext& context )
{
//render 3 rows and columns in one go to easily incorporate displacement
double width = context.outputPixelSize( mDistanceX ) * 2.0;
double height = context.outputPixelSize( mDistanceY ) * 2.0;
QImage patternImage( width, height, QImage::Format_ARGB32 );
patternImage.fill( 0 );
if ( mMarkerSymbol )
{
QPainter p( &patternImage );
//marker rendering needs context for drawing on patternImage
QgsRenderContext pointRenderContext;
pointRenderContext.setPainter( &p );
pointRenderContext.setRasterScaleFactor( 1.0 );
pointRenderContext.setScaleFactor( context.renderContext().scaleFactor() * context.renderContext().rasterScaleFactor() );
QgsMapToPixel mtp( context.renderContext().mapToPixel().mapUnitsPerPixel() / context.renderContext().rasterScaleFactor() );
pointRenderContext.setMapToPixel( mtp );
pointRenderContext.setForceVectorOutput( false );
mMarkerSymbol->setOutputUnit( context.outputUnit() );
mMarkerSymbol->startRender( pointRenderContext );
//render corner points
mMarkerSymbol->renderPoint( QPointF( 0, 0 ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( width, 0 ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( 0, height ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( width, height ), context.feature(), pointRenderContext );
//render displaced points
double displacementPixelX = context.outputPixelSize( mDisplacementX );
double displacementPixelY = context.outputPixelSize( mDisplacementY );
mMarkerSymbol->renderPoint( QPointF( width / 2.0, -displacementPixelY ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( displacementPixelX, height / 2.0 ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( width / 2.0 + displacementPixelX, height / 2.0 - displacementPixelY ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( width + displacementPixelX, height / 2.0 ), context.feature(), pointRenderContext );
mMarkerSymbol->renderPoint( QPointF( width / 2.0, height - displacementPixelY ), context.feature(), pointRenderContext );
mMarkerSymbol->stopRender( pointRenderContext );
}
if ( !doubleNear( context.alpha(), 1.0 ) )
{
QImage transparentImage = patternImage.copy();
QgsSymbolLayerV2Utils::multiplyImageOpacity( &transparentImage, context.alpha() );
mBrush.setTextureImage( transparentImage );
}
else
{
mBrush.setTextureImage( patternImage );
}
QTransform brushTransform;
brushTransform.scale( 1.0 / context.renderContext().rasterScaleFactor(), 1.0 / context.renderContext().rasterScaleFactor() );
mBrush.setTransform( brushTransform );
if ( mOutline )
{
mOutline->startRender( context.renderContext() );
}
}
