AP_ADC_HIL::AP_ADC_HIL()
{
// gyros set to zero for calibration
setGyro(0,0);
setGyro(1,0);
setGyro(2,0);
// accels set to zero for calibration
setAccel(0,0);
setAccel(1,0);
setAccel(2,0);
// set diff press and temp to zero
setGyroTemp(0);
setPressure(0);
}
void TransportButton::setState(TransportButton::TransState state)
{
QKeySequence a=accel();
button_state=state;
switch(button_state) {
case TransportButton::On:
flashOff();
if(isEnabled()) {
setPixmap(*on_cap);
}
break;
case TransportButton::Off:
flashOff();
if(isEnabled()) {
setPixmap(*off_cap);
}
break;
case TransportButton::Flashing:
if(isEnabled()) {
flashOn();
}
break;
}
setAccel(a);
}
void QButton::setPixmap( const QPixmap &pixmap )
{
if ( bpixmap && bpixmap->serialNumber() == pixmap.serialNumber() )
return;
bool newSize;
if ( bpixmap ) {
newSize = pixmap.width() != bpixmap->width() ||
pixmap.height() != bpixmap->height();
*bpixmap = pixmap;
} else {
newSize = TRUE;
bpixmap = new QPixmap( pixmap );
CHECK_PTR( bpixmap );
}
if ( bpixmap->depth() == 1 && !bpixmap->mask() )
bpixmap->setMask( *((QBitmap *)bpixmap) );
if ( !btext.isNull() )
btext = QString::null;
if ( autoresize && newSize )
adjustSize();
setAccel( 0 );
if ( autoMask() )
updateMask();
update();
updateGeometry();
}
// constructor
RAMBLERBot::RAMBLERBot(): button_(ZUMO_BUTTON)
{
pinMode(LED_PIN, OUTPUT);
state_ = ESTOP;
heading_ = 0;
setAccel(25);
headingAvg_.SetWindow(10);
}
int QMenuData::insertItem( const QPixmap &pixmap,
const QObject *receiver, const char* member,
int accel, int id, int index )
{
int actualID = insertAny( 0, &pixmap, 0, 0, id, index );
connectItem( actualID, receiver, member );
if ( accel )
setAccel( accel, actualID );
return actualID;
}
// Set one channel value
void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
{
// gyros
setGyro(0,p);
setGyro(1,q);
setGyro(2,r);
// temp
setGyroTemp(gyroTemp);
// accel
setAccel(0,aX);
setAccel(1,aY);
setAccel(2,aZ);
// differential pressure
setPressure(diffPress);
}
int QMenuData::insertItem( const QIconSet& icon,
const QString &text,
const QObject *receiver, const char* member,
int accel, int id, int index )
{
int actualID = insertAny( &text, 0, 0, &icon, id, index );
connectItem( actualID, receiver, member );
if ( accel )
setAccel( accel, actualID );
return actualID;
}
void TransportButton::enabledChange(bool oldEnabled)
{
QKeySequence a=accel();
if(isEnabled()&&!oldEnabled) {
setState(button_state);
update();
}
if(!isEnabled()&&oldEnabled) {
update();
setAccel(a);
}
}
void MD22::init(boolean transmit) {
prevM1 = 300;
prevM2 = 300;
setMode(modeValue, transmit);
delayMicroseconds(100);
setAccel(accelValue, transmit);
if (transmit) {
stopAll();
}
}
ToolBarItem::ToolBarItem( QWidget *parent, QWidget *toolBar,
const QString &label, const QString &tagstr,
const QIconSet &icon, const QKeySequence &key )
: QAction( parent )
{
setIconSet( icon );
setText( label );
setAccel( key );
addTo( toolBar );
tag = tagstr;
connect( this, SIGNAL( activated() ), this, SLOT( wasActivated() ) );
}
void RDTransportButton::flashClock()
{
QKeySequence a=accel();
if(flash_state) {
flash_state=false;
setPixmap(*off_cap);
}
else {
flash_state=true;
setPixmap(*on_cap);
}
setAccel(a);
}
void RDTransportButton::enabledChange(bool oldEnabled)
{
QKeySequence a=accel();
if(isEnabled()&&!oldEnabled) {
setState(button_state);
update();
}
if(!isEnabled()&&oldEnabled) {
// setPixmap(*grey_cap);
update();
setAccel(a);
}
}
void RDPushButton::tickClock(bool state)
{
if(!flashing_enabled) {
return;
}
QKeySequence a=accel();
if(state) {
flash_state=false;
QPushButton::setPalette(flash_palette);
}
else {
flash_state=true;
QPushButton::setPalette(off_palette);
}
setAccel(a);
}
void RDTransportButton::resizeEvent(QResizeEvent *event)
{
QKeySequence a=accel();
drawOnCap();
drawOffCap();
switch(button_state) {
case RDTransportButton::Off:
setPixmap(*off_cap);
break;
case RDTransportButton::On:
setPixmap(*on_cap);
break;
default:
setPixmap(*off_cap);
break;
}
setAccel(a);
}
void Cheerio::processCollision(Car &car) {
GLdouble speed = car.getSpeed() * 1.1f;
const auto reverse = (speed / fabs(speed) < 0);
if( fabs(speed) > cm(2) ) {
Vector3 orientation = car.getOrientation();
if (reverse) {
setOrientation( orientation * -1 );
setSpeed( speed * -1 );
} else {
setOrientation( orientation );
setSpeed( speed );
}
setAccel( cm(-40) );
car.stop();
}
}
void QButton::setText( const QString &text )
{
if ( btext == text )
return;
btext = text;
if ( bpixmap ) {
delete bpixmap;
bpixmap = 0;
}
if ( autoresize )
adjustSize();
#ifndef QT_NO_ACCEL
setAccel( QAccel::shortcutKey( btext ) );
#endif
update();
updateGeometry();
}
void eggManagement2() {
///////////////////////////////////
// Leader checks if there's food(egg)
///////////////////////////////////
for(int o=0; o<objcount; o++) {
for(int f=0; f<foodcount; f++) {
setAccel(food[f].acceleration, food[f].velocity, food[f].mass, 0, 0, 0, windvelocity, 0);
eulerInt(food[f].position, food[f].velocity, food[f].acceleration, dt);
repelAttractVelocity(food[f].position,
food[f].mass,
boid[o].position,
food[f].gravity,
ATTRACT,
boid[o].velocity);
if (food[f].stolen) {
boidVelocityMatch(boid[2].velocity, food[f].velocity, 0.5);
boidCentering(boid[2].position, food[f].position, food[f].velocity, 0.05);
boidAvoidance(boid[2].position, food[f].position, food[f].velocity, 0.5);
//boidAvoidance(food[f].position, food[f+1].position, food[f+1].velocity, 0.5);
}
/////////////////////////////////////////////////////////
// if close enough steal food
/////////////////////////////////////////////////////////
if(distance3d(food[f].position, boid[o].position) < 0.5) {
// how long to linger around food before actually taking it
linger -= 0.0005;
if(linger < 0.0) {
IsFoodPresent = false;
revballgravity = revball_init;
food[f].stolen = true;
food[f].thief = 1;
food[f].gravity = 0.0;
food[f].love = 0.0;
}
}
}
}
}
void predatorPolygonCollision() {
for (int i=0; i<predcount; i++) {
// Save old position for use in collision detection later
vec3d pStart = predator[i].position;
//vec3d Pos, Vel;
setAccel(predator[i].acceleration, predator[i].velocity, predator[i].mass, xgravity, -ygravity, zgravity, windvelocity, k);
eulerInt(predator[i].position, predator[i].velocity, predator[i].acceleration, dt);
// Save new position for use in collision detection later
vec3d pDest = predator[i].position;
// Collision with own habitat
for(int p=0; p<habcount; p++) {
detectAndReflect(habitat[p], pStart, pDest, predator[i].velocity, e);
}
// Collision with other polygons
for(int p=0; p<tricount; p++) {
detectAndReflect(triangle[p], pStart, pDest, predator[i].velocity, e);
// Repellance with other polygons
if(distance3d(triangle[p].topleft, predator[i].position) < 35.0) {
repelAttractVelocity(triangle[p].topleft,
raMass,
predator[i].position,
raForce,
REPEL,
predator[i].velocity);
repelAttractVelocity(triangle[p].topright,
raMass,
predator[i].position,
raForce,
REPEL,
predator[i].velocity);
}
}
}
}
void QButton::setText(const QString &text)
{
if (btext == text)
return;
btext = text;
#ifndef QT_NO_ACCEL
setAccel(QAccel::shortcutKey(text));
#endif
if (bpixmap) {
delete bpixmap;
bpixmap = 0;
}
if (autoresize)
adjustSize();
update();
updateGeometry();
#if defined(QT_ACCESSIBILITY_SUPPORT)
QAccessible::updateAccessibility( this, 0, QAccessible::NameChanged );
#endif
}
void GCode::do_m_code()
{
#ifdef USE_MARLIN
// Marlin's only method of synchronizing these sorts of commands is to wait 'till it's cleared out.
if(!Marlin::isBufferEmpty())
return;
#endif
switch(cps[M].getInt())
{
case 0: // Finish up and shut down.
case 18: // 18 used by RepG.
case 84: // "Stop Idle Hold" == shut down motors.
SETOBJ(disableAllMotors());
state = DONE;
break;
case 104: // Set Extruder Temperature (Fast)
SKIPEXTRUDE;
if(cps[S].isUnused() || TEMPERATURE.setHotend(cps[S].getInt()))
{
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#endif
state = DONE;
}
break;
case 105: // Get Extruder Temperature
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#else
write_temps_to_host(source);
#endif
state = DONE;
state = DONE;
break;
#ifndef USE_MBIEC
case 106: // Fan on
if(!fanpin.isNull())
{
fanpin.setValue(true);
}
state = DONE;
break;
case 107: // Fan off
if(!fanpin.isNull())
{
fanpin.setValue(false);
}
state = DONE;
break;
#else
case 106: // Fan on
if(TEMPERATURE.setFan(true))
state = DONE;
break;
case 107: // Fan off
if(TEMPERATURE.setFan(false))
state = DONE;
break;
#endif
case 109: // Set Extruder Temperature
SKIPEXTRUDE;
if(state != ACTIVE && (cps[S].isUnused() || TEMPERATURE.setHotend(cps[S].getInt())))
state = ACTIVE;
if(state == ACTIVE && TEMPERATURE.getHotend() >= TEMPERATURE.getHotendST())
{
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
write_temps_to_host(source);
#endif
state = DONE;
}
if(millis() - lastms > 1000)
{
lastms = millis();
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#else
write_temps_to_host(source);
#endif
}
break;
case 110: // Set Current Line Number
GCODES.setLineNumber(cps[S].isUnused() ? 1 : cps[S].getInt());
state = DONE;
break;
case 114: // Get Current Position
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write(' ');
#endif
Host::Instance(source).write("C: ");
SETOBJ(writePositionToHost(*this));
// TODO
Host::Instance(source).endl();
state = DONE;
break;
case 115: // Get Firmware Version and Capabilities
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write_P(PSTR(" VERSION:" SJFW_VERSION " FREE_RAM:"));
Host::Instance(source).write(getFreeRam(),10);
Host::Instance(source).write_P(PSTR(" FEATURES:0/crc-v2"));
Host::Instance(source).endl();
state = DONE;
break;
case 116: // Wait on temperatures
SKIPEXTRUDE;
if(TEMPERATURE.getHotend() >= TEMPERATURE.getHotendST() && TEMPERATURE.getPlatform() >= TEMPERATURE.getPlatformST())
state = DONE;
if(millis() - lastms > 1000)
{
lastms = millis();
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#else
write_temps_to_host(source);
#endif
}
break;
case 118: // Choose optional features TODO: implement properly when we have > 1 option
if(!cps[P].isUnused())
{
if(cps[P].getInt() == 1)
GCODES.enableADVANCED_CRC(source);
else
GCODES.disableADVANCED_CRC(source);
}
case 140: // Bed Temperature (Fast)
SKIPEXTRUDE;
if(cps[S].isUnused() || TEMPERATURE.setPlatform(cps[S].getInt()))
{
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#endif
state = DONE;
}
break;
case 200: // NOT STANDARD - set Steps Per Unit
SETOBJ(setStepsPerUnit(*this));
state = DONE;
break;
case 201: // NOT STANDARD - set Feedrates
SETOBJ(setMinimumFeedrate(*this));
state = DONE;
break;
case 202: // NOT STANDARD - set Feedrates
SETOBJ(setMaximumFeedrate(*this));
state = DONE;
break;
case 203: // NOT STANDARD - set Feedrates
SETOBJ(setAverageFeedrate(*this));
state = DONE;
break;
#ifdef HAS_SD
case 204: // NOT STANDARD - get next filename from SD
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write(' ');
Host::Instance(source).write(sdcard::getNextfile());
Host::Instance(source).endl();
state = DONE;
break;
case 205: // NOT STANDARD - print file from last 204
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write(sdcard::getCurrentfile());
if(sdcard::printcurrent())
Host::Instance(source).write_P(PSTR(" BEGUN"));
else
Host::Instance(source).write_P(PSTR(" FAIL"));
Host::Instance(source).endl();
state = DONE;
break;
#endif
case 206: // NOT STANDARD - set accel rate
SETOBJ(setAccel(*this));
state = DONE;
break;
case 207: // NOT STANDARD - set hotend thermistor pin
if(!cps[P].isUnused())
TEMPERATURE.changePinHotend(cps[P].getInt());
if(!cps[S].isUnused())
TEMPERATURE.changeOutputPinHotend(cps[S].getInt());
state = DONE;
break;
case 208: // NOT STANDARD - set platform thermistor pin
if(!cps[P].isUnused())
TEMPERATURE.changePinPlatform(cps[P].getInt());
if(!cps[S].isUnused())
TEMPERATURE.changeOutputPinPlatform(cps[S].getInt());
state = DONE;
break;
case 211: // NOT STANDARD - request temp reports at regular interval
if(cps[P].isUnused())
TEMPERATURE.changeReporting(0, Host::Instance(source));
else
TEMPERATURE.changeReporting(cps[P].getInt(), Host::Instance(source));
state = DONE;
break;
case 215: // NOT STANDARD - set arbitrary digital pin
if(!cps[P].isUnused() && !cps[S].isUnused())
{
doPinSet(cps[P].getInt(), cps[S].getInt());
}
state = DONE;
break;
case 216: // NOT STANDARD - set fan pin
if(!cps[P].isUnused())
{
fanpin = Pin(ArduinoMap::getPort(cps[P].getInt()), ArduinoMap::getPinnum(cps[P].getInt()));
fanpin.setDirection(true);
fanpin.setValue(false);
}
state = DONE;
break;
case 220: // NOT STANDARD - set endstop minimum positions
SETOBJ(setMinStopPos(*this));
state = DONE;
break;
case 221: // NOT STANDARD - set endstop minimum positions
SETOBJ(setMaxStopPos(*this));
state = DONE;
break;
#ifdef HAS_LCD
case 250: // NOT STANDARD - LCD RS pin
if(!cps[P].isUnused())
LCDKEYPAD.setRS(cps[P].getInt());
state = DONE;
break;
case 251: // NOT STANDARD - LCD RW pin
if(!cps[P].isUnused())
LCDKEYPAD.setRW(cps[P].getInt());
state = DONE;
break;
case 252: // NOT STANDARD - LCD E pin
if(!cps[P].isUnused())
LCDKEYPAD.setE(cps[P].getInt());
state = DONE;
break;
case 253: // NOT STANDARD - LCD D pins
if(!cps[P].isUnused() && !cps[S].isUnused())
LCDKEYPAD.setD(cps[S].getInt(), cps[P].getInt());
state = DONE;
break;
case 254: // NOT STANDARD - Keypad Row Pins
if(!cps[P].isUnused() && !cps[S].isUnused())
LCDKEYPAD.setRowPin(cps[S].getInt(), cps[P].getInt());
state = DONE;
break;
case 255: // NOT STANDARD - Keypad Col Pins
if(!cps[P].isUnused() && !cps[S].isUnused())
LCDKEYPAD.setColPin(cps[S].getInt(), cps[P].getInt());
state = DONE;
break;
case 256: // NOT STANDARD - reinit LCD. This is a temporary 'fix' for the init timing errors
LCDKEYPAD.reinit();
state = DONE;
break;
#endif
case 300: // NOT STANDARD - set axis STEP pin
SETOBJ(setStepPins(*this));
state = DONE;
break;
case 301: // NOT STANDARD - set axis DIR pin
SETOBJ(setDirPins(*this));
state = DONE;
break;
case 302: // NOT STANDARD - set axis ENABLE pin
SETOBJ(setEnablePins(*this));
state = DONE;
break;
case 304: // NOT STANDARD - set axis MIN pin
SETOBJ(setMinPins(*this));
state = DONE;
break;
case 305: // NOT STANDARD - set axis MAX pin
SETOBJ(setMaxPins(*this));
state = DONE;
break;
case 307: // NOT STANDARD - set axis invert
SETOBJ(setAxisInvert(*this));
state = DONE;
break;
case 308: // NOT STANDARD - set axis disable
SETOBJ(setAxisDisable(*this));
state = DONE;
break;
case 309: // NOT STANDARD - set global endstop invert, endstop pullups.
SETOBJ(setEndstopGlobals(cps[P].getInt() == 1 ? true: false, cps[S].getInt() == 1 ? true: false));
state = DONE;
break;
case 310: // NOT STANDARD - report axis configuration status
SETOBJ(reportConfigStatus(Host::Instance(source)));
state = DONE;
break;
case 350: // NOT STANDARD - change gcode optimization
if(!cps[P].isUnused() && cps[P].getInt() == 1)
GCODES.enableOptimize();
else
GCODES.disableOptimize();
state = DONE;
break;
case 351: // NOT STANDARD - disable extruder commands (test print option)
if(!cps[P].isUnused() && cps[P].getInt() == 1)
DONTRUNEXTRUDER = true;
else
DONTRUNEXTRUDER = false;
state = DONE;
break;
// case 400,402 handled by GcodeQueue immediately, not queued.
case 401: // Execute stored eeprom code.
Host::Instance(source).write_P(PSTR("EEPROM READ: "));
if(eeprom::beginRead())
Host::Instance(source).write_P(PSTR("BEGUN"));
else
Host::Instance(source).write_P(PSTR("FAIL"));
Host::Instance(source).endl();
state = DONE;
break;
// NOT STANDARD - set thermistor table
case 501: case 502: case 503: case 504: case 505: case 506: case 507: case 508: case 509: case 510:
case 511: case 512: case 513: case 514: case 515: case 516: case 517: case 518: case 519: case 520:
if(!cps[P].isUnused() && !cps[S].isUnused())
{
TEMPERATURE.changeTempTable(cps[P].getInt(), cps[S].getInt(), cps[M].getInt() - 501);
}
state = DONE;
break;
default:
Host::Instance(source).labelnum("warn ", linenum, false);
Host::Instance(source).write_P(PSTR(" MCODE ")); Host::Instance(source).write(cps[M].getInt(), 10); Host::Instance(source).write_P(PSTR(" NOT SUPPORTED\n"));
state = DONE;
break;
}
#ifndef REPRAP_COMPAT
if(state == DONE)
{
if(linenum != -1)
Host::Instance(source).labelnum("done ", linenum, false);
else
Host::Instance(source).write_P(PSTR("done "));
Host::Instance(source).labelnum(" M", cps[M].getInt(), true);
}
#endif
}
void MouseConfig::defaultSettings()
{
setThreshold(2);
setAccel(2);
setHandedness(RIGHT_HANDED);
}
bool QAction::qt_property( int id, int f, QVariant* v)
{
switch ( id - staticMetaObject()->propertyOffset() ) {
case 0: switch( f ) {
case 0: setToggleAction(v->asBool()); break;
case 1: *v = QVariant( this->isToggleAction(), 0 ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 1: switch( f ) {
case 0: setOn(v->asBool()); break;
case 1: *v = QVariant( this->isOn(), 0 ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 2: switch( f ) {
case 0: setEnabled(v->asBool()); break;
case 1: *v = QVariant( this->isEnabled(), 0 ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 3: switch( f ) {
case 0: setIconSet(v->asIconSet()); break;
case 1: *v = QVariant( this->iconSet() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 4: switch( f ) {
case 0: setText(v->asString()); break;
case 1: *v = QVariant( this->text() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 5: switch( f ) {
case 0: setMenuText(v->asString()); break;
case 1: *v = QVariant( this->menuText() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 6: switch( f ) {
case 0: setToolTip(v->asString()); break;
case 1: *v = QVariant( this->toolTip() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 7: switch( f ) {
case 0: setStatusTip(v->asString()); break;
case 1: *v = QVariant( this->statusTip() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 8: switch( f ) {
case 0: setWhatsThis(v->asString()); break;
case 1: *v = QVariant( this->whatsThis() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 9: switch( f ) {
case 0: setAccel(v->asKeySequence()); break;
case 1: *v = QVariant( this->accel() ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
case 10: switch( f ) {
case 0: setVisible(v->asBool()); break;
case 1: *v = QVariant( this->isVisible(), 0 ); break;
case 3: case 4: case 5: break;
default: return FALSE;
} break;
default:
return QObject::qt_property( id, f, v );
}
return TRUE;
}
void SnakeBoss::update()
{
//snake update
float distance, angle;
float x, y;
_pieces[0]->setCenter(getX(), getY());
_pieces[0]->setAngleR(getAngleR());
_pieces[0]->setSpeed(getSpeed());
//_pieces[0]->activate();
for (int i = 1; i < LENGTH; i++)
{
distance = myUtil::getDistance(_pieces[i - 1]->getX(), _pieces[i - 1]->getY(), _pieces[i]->getX(), _pieces[i]->getY());
angle = myUtil::getAngle(_pieces[i - 1]->getX(), _pieces[i - 1]->getY(), _pieces[i]->getX(), _pieces[i]->getY());
while (angle < 0) angle += M_PI * 2;
while (angle >(M_PI * 2)) angle -= M_PI * 2;
if (distance > 45)
{
x = cos(angle) * 45;
y = -sin(angle) * 45;
_pieces[i]->setCenter(_pieces[i - 1]->getX() + x, _pieces[i - 1]->getY() + y);
_pieces[i]->setAngleR(angle);
}
else
{
_pieces[i]->setX(_pieces[i]->getX() - cos(_pieces[i]->getAngleR()) * 9.9);
_pieces[i]->setY(_pieces[i]->getY() + sin(_pieces[i]->getAngleR()) * 9.9);
}
}
//moving
if (!tileCollision() ||
getX() < 0 || getX() > MAP_SIZE_X * METER_TO_PIXEL ||
getY() < 0 || getY() > MAP_SIZE_Y * METER_TO_PIXEL)
{
setAccel(0);
setAccelY(GRAVITY_ACCEL / 2);
//angle = min(M_PI / 4, abs((myUtil::getDistance(getX(), getY(), _player->getX(), _player->getY()) / (_option.width() / 2)) * (M_PI / 8)));
}
else
{
angle = min(M_PI, abs((myUtil::getDistance(getX(), getY(), _player->getX(), _player->getY()) / (_option.width() / 2)) * (M_PI)));
setAccelY(0);
setAccel(METER_TO_PIXEL * 80);
//setSpeed(METER_TO_PIXEL * 80);
int direct = 0;
float destAngle = myUtil::getAngle(getX(), getY(), _player->getX(), _player->getY() - METER_TO_PIXEL * 5);
float sourAngle = getAngleR();
while (destAngle < 0) destAngle += M_PI * 2;
while (destAngle >(M_PI * 2)) destAngle -= M_PI * 2;
while (sourAngle < 0) sourAngle += M_PI * 2;
while (sourAngle >(M_PI * 2)) sourAngle -= M_PI * 2;
while (angle < 0) angle += M_PI * 2;
while (angle >(M_PI * 2)) angle -= M_PI * 2;
if (destAngle > sourAngle)
{
if (abs(destAngle - sourAngle) < (M_PI / 32)) direct = 0;
else if (abs(destAngle - sourAngle) > M_PI) direct = 2;
else direct = 1;
}
else
{
if (abs(destAngle - sourAngle) < (M_PI / 32)) direct = 0;
else if (abs(destAngle - sourAngle) > M_PI) direct = 1;
else direct = 2;
}
switch (direct)
{
case 1:
setAngleR(sourAngle + (angle * TIMEMANAGER->getElapsedTime()));
break;
case 2:
setAngleR(sourAngle - (angle * TIMEMANAGER->getElapsedTime()));
break;
case 0:
setAngleR(destAngle);
break;
}
}
activate();
}
void MouseConfig::GetSettings( void )
{
int accel_num, accel_den, threshold;
XGetPointerControl( kapp->getDisplay(),
&accel_num, &accel_den, &threshold );
accel_num /= accel_den; // integer acceleration only
// get settings from X server
int h = RIGHT_HANDED;
unsigned char map[5];
num_buttons = XGetPointerMapping(kapp->getDisplay(), map, 5);
switch (num_buttons)
{
case 1:
/* disable button remapping */
if (GUI)
{
rightHanded->setEnabled(FALSE);
leftHanded->setEnabled(FALSE);
handedEnabled = FALSE;
}
break;
case 2:
if ( (int)map[0] == 1 && (int)map[1] == 2 )
h = RIGHT_HANDED;
else if ( (int)map[0] == 2 && (int)map[1] == 1 )
h = LEFT_HANDED;
else
{
/* custom button setup: disable button remapping */
if (GUI)
{
rightHanded->setEnabled(FALSE);
leftHanded->setEnabled(FALSE);
}
}
break;
case 3:
middle_button = (int)map[1];
if ( (int)map[0] == 1 && (int)map[2] == 3 )
h = RIGHT_HANDED;
else if ( (int)map[0] == 3 && (int)map[2] == 1 )
h = LEFT_HANDED;
else
{
/* custom button setup: disable button remapping */
if (GUI)
{
rightHanded->setEnabled(FALSE);
leftHanded->setEnabled(FALSE);
handedEnabled = FALSE;
}
}
break;
default:
/* custom setup with > 3 buttons: disable button remapping */
if (GUI)
{
rightHanded->setEnabled(FALSE);
leftHanded->setEnabled(FALSE);
handedEnabled = FALSE;
}
break;
}
config->setGroup("Mouse");
int a = config->readNumEntry("Acceleration",-1);
if (a == -1)
accelRate = accel_num;
else
accelRate = a;
int t = config->readNumEntry("Threshold",-1);
if (t == -1)
thresholdMove = threshold;
else
thresholdMove = t;
QString key = config->readEntry("MouseButtonMapping");
if (key == "RightHanded")
handed = RIGHT_HANDED;
else if (key == "LeftHanded")
handed = LEFT_HANDED;
else if (key == NULL)
handed = h;
// the GUI should always show the real values
if (GUI)
{
setAccel(accel_num);
setThreshold(threshold);
setHandedness(h);
}
}
int Q3Action::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QObject::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: activated(); break;
case 1: toggled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 2: activate(); break;
case 3: toggle(); break;
case 4: setOn((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 5: setEnabled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 6: setDisabled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 7: setVisible((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 8: internalActivation(); break;
case 9: toolButtonToggled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 10: objectDestroyed(); break;
case 11: menuStatusText((*reinterpret_cast< int(*)>(_a[1]))); break;
case 12: showStatusText((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 13: clearStatusText(); break;
}
_id -= 14;
}
#ifndef QT_NO_PROPERTIES
else if (_c == QMetaObject::ReadProperty) {
void *_v = _a[0];
switch (_id) {
case 0: *reinterpret_cast< bool*>(_v) = isToggleAction(); break;
case 1: *reinterpret_cast< bool*>(_v) = isOn(); break;
case 2: *reinterpret_cast< bool*>(_v) = isEnabled(); break;
case 3: *reinterpret_cast< QIcon*>(_v) = iconSet(); break;
case 4: *reinterpret_cast< QString*>(_v) = text(); break;
case 5: *reinterpret_cast< QString*>(_v) = menuText(); break;
case 6: *reinterpret_cast< QString*>(_v) = toolTip(); break;
case 7: *reinterpret_cast< QString*>(_v) = statusTip(); break;
case 8: *reinterpret_cast< QString*>(_v) = whatsThis(); break;
case 9: *reinterpret_cast< QKeySequence*>(_v) = accel(); break;
case 10: *reinterpret_cast< bool*>(_v) = isVisible(); break;
}
_id -= 11;
} else if (_c == QMetaObject::WriteProperty) {
void *_v = _a[0];
switch (_id) {
case 0: setToggleAction(*reinterpret_cast< bool*>(_v)); break;
case 1: setOn(*reinterpret_cast< bool*>(_v)); break;
case 2: setEnabled(*reinterpret_cast< bool*>(_v)); break;
case 3: setIconSet(*reinterpret_cast< QIcon*>(_v)); break;
case 4: setText(*reinterpret_cast< QString*>(_v)); break;
case 5: setMenuText(*reinterpret_cast< QString*>(_v)); break;
case 6: setToolTip(*reinterpret_cast< QString*>(_v)); break;
case 7: setStatusTip(*reinterpret_cast< QString*>(_v)); break;
case 8: setWhatsThis(*reinterpret_cast< QString*>(_v)); break;
case 9: setAccel(*reinterpret_cast< QKeySequence*>(_v)); break;
case 10: setVisible(*reinterpret_cast< bool*>(_v)); break;
}
_id -= 11;
} else if (_c == QMetaObject::ResetProperty) {
_id -= 11;
} else if (_c == QMetaObject::QueryPropertyDesignable) {
_id -= 11;
} else if (_c == QMetaObject::QueryPropertyScriptable) {
_id -= 11;
} else if (_c == QMetaObject::QueryPropertyStored) {
_id -= 11;
} else if (_c == QMetaObject::QueryPropertyEditable) {
_id -= 11;
} else if (_c == QMetaObject::QueryPropertyUser) {
_id -= 11;
}
#endif // QT_NO_PROPERTIES
return _id;
}
void PlayerMoveComponent::determineDirection(){
//Je nach dem welche Taste eingegeben wurde wird mit maximaler Beschleunigung in die zugwiesene Richtung beschleunigt
if(keyStates['w'] || keyStates['W']){
if(keyStates['a'] || keyStates['A'])
setAccel(CVector(-MAX_ACCEL,MAX_ACCEL));
else if(keyStates['d'] || keyStates['D'])
setAccel(CVector(MAX_ACCEL,MAX_ACCEL));
else setAccel(CVector(0.0,MAX_ACCEL));
return;
}
if(keyStates['a'] || keyStates['A']){
if(keyStates['w'] || keyStates['W'])
setAccel(CVector(-MAX_ACCEL,MAX_ACCEL));
else if(keyStates['s'] || keyStates['S'])
setAccel(CVector(-MAX_ACCEL,-MAX_ACCEL));
else setAccel(CVector(-MAX_ACCEL,0));
return;
}
if(keyStates['s'] || keyStates['S']){
if(keyStates['d'] || keyStates['D'])
setAccel(CVector(MAX_ACCEL,-MAX_ACCEL));
else if(keyStates['a'] || keyStates['A'])
setAccel(CVector(-MAX_ACCEL,-MAX_ACCEL));
else setAccel(CVector(0,-MAX_ACCEL));
return;
}
if(keyStates['d'] || keyStates['D']){
if(keyStates['s'] || keyStates['S'])
setAccel(CVector(MAX_ACCEL,-MAX_ACCEL));
else if(keyStates['w'] || keyStates['W'])
setAccel(CVector(MAX_ACCEL,MAX_ACCEL));
else setAccel(CVector(MAX_ACCEL,0));
return;
}
//Wenn nichts gedrückt wurde, kommt der Spieler langsam zum stehen
if(velocity!=CVector(0,0)){
float x = 0.0;
float y = 0.0;
if(velocity[0]>0)
x = -MAX_ACCEL;
else
x = MAX_ACCEL;
if(velocity[1]>0)
y = -MAX_ACCEL;
else
y = MAX_ACCEL;
setAccel(CVector(x,y));
}
}
/*
* Configuration de la valeur d'accéleration des moteurs.
* L'accéleration fonctionne comme suit :
*
* If you require a controlled acceleration period for the attached motors to reach there ultimate speed,
* the MD22 has a register to provide this. It works by inputting a value into the acceleration register
* which acts as a delay in the power stepping. The amount of steps is the difference between the current
* speed of the motors and the new speed (from speed 1 and 2 registers). So if the motors were traveling
* at full speed in the forward direction (255) and were instructed to move at full speed in reverse (0),
* there would be 255 steps.
*
* The acceleration register contains the rate at which the motor board moves through the steps. At 0 (default)
* the board changes the power (accelerates) at its fastest rate, each step taking 64us. When the acceleration
* register is loaded with the Slowest setting of 255, the board will change the power output every 16.4ms.
*
* So to calculate the time (in seconds) for the acceleration to complete : time = accel reg value * 64us * steps.
* For example :
*
* ----------------------------------------------------------------------------------
* | Accel reg | Time/step | Current speed | New speed | Steps | Acceleration time |
* ----------------------------------------------------------------------------------
* | 0 | 0 | 0 | 255 | 255 | 0 |
* ----------------------------------------------------------------------------------
* | 20 | 1.28ms | 127 | 255 | 128 | 164ms |
* ----------------------------------------------------------------------------------
* | 50 | 3.2ms | 80 | 0 | 80 | 256ms |
* ----------------------------------------------------------------------------------
* | 100 | 6.4ms | 45 | 7 | 38 | 243ms |
* ----------------------------------------------------------------------------------
* | 150 | 9.6ms | 255 | 5 | 250 | 2.4s |
* ----------------------------------------------------------------------------------
* | 200 | 12.8ms | 127 | 0 | 127 | 1.63s |
* ----------------------------------------------------------------------------------
* | 255 | 16.32ms | 65 | 150 | 85 | 1.39s |
* ----------------------------------------------------------------------------------
*/
void MD22::setAccel(byte value) {
setAccel(value, true);
}
