void CalibrateGate()
{
int i;
PromptFor("Disengage Gate");
enable_servos();
Gate(0);
PromptFor("Re-engage at top");
printf("Testing...");
for (i = 3; i >= 0; i--)
{
printf("%d", i);
sleep(1.0);
}
printf("\n");
for (i = 0; i < 5; i++)
{
Gate(1);
sleep(5.0);
Gate(0);
sleep(1.0);
}
disable_servos();
}
void DumpBall()
{
DebugStop("Dump Ball");
while (1)
{
Lookdown();
if (iSight == iMe)
{
DebugStop("Dumping");
fBallRelease = 1;
Gate(0);
Hard(-70);
msleep(1000L);
if (fBlocked)
Unbind();
Move(-200,-200);
Move(50, 50);
Hard(-90);
fBallRelease = 0;
fBall = 0;
break;
}
Move(300, 300);
if (fBlocked)
{
if (rgfBlock[3]) Hard(-10);
else Hard(10);
}
}
}
bool
GateKeeper::RegisterGate( const std::string gate_name )
{
if( GateExists( gate_name ) ) return( false );
gates.insert( std::make_pair( gate_name, Gate( num_processors ) ) );
return( true );
}
int FBallCapture()
{
if (fBall && !fBallRelease && !fGateDown)
{
Gate(1);
return 1;
}
return 0;
}
Gate Gate::Parse(Object* object, QList<Key*> keyList)
{
Gate gate = Gate();
gate.name = object->find(ELE_NAME, "");
gate.type = static_cast<Gate::Type>(object->find(ELE_GATE_TYPE, "").toInt());
gate.keys = object->find(ELE_KEY_LINKS, "").split(':');
gate.triggered = (object->find(ELE_TRIGGERED, "false") == "false" ? false : true);
return gate;
}
void CompeteInit(int fPre)
{
enable_servos();
Gate(0);
if (fPre)
{
sleep(0.25);
disable_servos();
}
fBall = 0;
ipMotor = start_process(MotorDriver());
}
void CollectBalls()
{
Hard(90);
Move(-80,-80);
Move(30, 30);
Gate(0);
fBallRelease = 1;
Move(500, 500);
pwrMax = 60;
Move(-10, -10);
Gate(1);
fBallRelease = 0;
msleep(250L);
Move(-20, -20);
pwrMax = 100;
Move(-600,-600);
msleep(250L);
Move(80, 80);
Hard(110);
Move(-200,-200);
Move(700, 700);
}
QList<Gate> DBHandler::gates()
{
QList<Gate> l;
bool ok;
QSqlQuery q = mDB.select(QStringList() <<"gates",ok,QHash<QString,QStringList>());
if(ok){
while(q.next()){
l.append(Gate(q));
}
}else {
QMessageBox::warning(0,"Fehler","select konnt nicht ausgeführt werden \n"+mDB.lastError().text(),QMessageBox::Ok);
}
return l;
}
/* Measure ticks per second */
void CalibrateSpeed()
{
long msStart;
long msEnd;
int cForward;
int cBack;
int cTicks = 500;
int i;
int fServo;
for (fServo = 0; fServo < 2; fServo++)
{
if (fServo)
{
enable_servos();
Gate(0);
printf("Servo: ");
}
else
printf("No Servo: ");
for (i = 0; i < 2; i++)
{
msStart = mseconds();
Move(cTicks,cTicks);
msEnd = mseconds();
rgSpeed[i] = MultDiv(100, 1000, (int) (msEnd - msStart));
printf("%d ", rgSpeed[i]);
cTicks = -cTicks;
sleep(1.0);
}
if (fServo)
disable_servos();
printf("\n");
StartPress();
}
}
void SectorManager::GateActivate(Player *player, long target)
{
Gate(player, target);
}
//Alters the map to the users specifications
void Map::AlterMap (char W, char S, char F, char G, char C, char X, char L, char E, char P)
{
if (Washrooms(W))
{
floorOne[3][3] = 'W'; floorOne[2][11] = 'W'; floorOne[13][45] = 'W'; floorOne[13][51] = 'W';
floorTwo[13][4] = 'W'; floorTwo[13][12] = 'W'; floorTwo[2][50] = 'W'; floorTwo[5][50] = 'W';
} else
{
floorOne[3][3] = ' '; floorOne[2][11] = ' '; floorOne[13][45] = ' '; floorOne[13][51] = ' ';
floorTwo[13][4] = ' '; floorTwo[13][12] = ' '; floorTwo[2][50] = ' '; floorTwo[5][50] = ' ';
}
if (Store(S))
{
floorOne[11][4] = 'S';
floorTwo[8][3] = 'S';
} else
{
floorOne[11][4] = ' ';
floorTwo[8][3] = ' ';
}
if (Food(F))
{
floorTwo[2][4] = 'F'; floorTwo[2][12] = 'F';
} else
{
floorTwo[2][4] = ' '; floorTwo[2][12] = ' ';
}
if (Gate(G))
{
floorTwo[1][27] = 'G'; floorTwo[1][40] = 'G';
} else
{
floorTwo[1][27] = ' '; floorTwo[1][40] = ' ';
}
if (Customs(C))
{
floorTwo[9][31] = 'C';
} else
{
floorTwo[9][31] = ' ';
}
if (CheckIn(X))
{
floorOne[2][38] = 'X';
} else
{
floorOne[2][38] = ' ';
}
if (Luggage(L))
{
floorOne[2][38] = 'L';
} else
{
floorOne[2][38] = ' ';
}
if (Entrance(E))
{
floorOne[10][52] = 'E';
} else
{
floorOne[10][52] = ' ';
}
if (PickUp(P))
{
floorOne[11][28] = 'P'; floorOne[11][37] = 'P';
} else
{
floorOne[11][28] = ' '; floorTwo[11][37] = ' ';
}
}
