task main()
{
// Stop both motors
motor[motorD] = 0;
motor[motorE] = 0;
while (true)
{
// Run motorD (i.e. motor 1 on the Hitechnic controller) forward and then reverse
PlaySoundFile("01.rso"); // Plays file containing audio for '1'
motor[motorD] = 50;
wait1Msec(2000);
motor[motorD] = -50;
wait1Msec(2000);
motor[motorD] = 0;
// Run motorE (i.e. motor 2 on the Hitechnic controller) forward and then reverse
PlaySoundFile("02.rso"); // Plays file containing audio for '2'
motor[motorE] = 50;
wait1Msec(2000);
motor[motorE] = -50;
wait1Msec(2000);
motor[motorE] = 0;
}
}
task main() {
clearLCDLine(0);
clearLCDLine(1);
displayLCDPos(0, 0);
displayNextLCDString("Titties");
nVolume = 4;
#ifndef NOSOUND
PlaySoundFile(SONGNAME);
#endif
resetVars(); // reset all variables
resetSensors(); // reset all sensors
#ifndef NOAUTON
AutoSelector();//run the RedFront autonomous
Autonomous();
#endif
AutoRedPost();
while (true) {
#ifndef NOSOUND
if (bSoundQueueAvailable) {
PlaySoundFile(SONGNAME);
}
#endif
RC(); // recieve inputs
calcMotorValues();
//writeStream();
//beltPower = 127;
RunRobot();
}
}
//==================================
// main program
//==================================
task main()
{
disableDiagnosticsDisplay();
//nMotorEncoder(lift1) = 0;
//nMotorEncoder(shoulder) = 0;
abs_cscreen(" "," "," ");
nxtDisplayBigTextLine(7, " ");
abs_smoke_test_view(test_num,test_value1,test_value2);
while(true)
{
while(nNxtButtonPressed!=kEnterButton)
{
if(nNxtButtonPressed==kLeftButton&&test_num>1)
{
test_num--;
abs_smoke_test_view(test_num,test_value1,test_value2);
PlaySoundFile("! Click.rso");
while(nNxtButtonPressed==kLeftButton){}
}
if(nNxtButtonPressed==kRightButton&&test_num<total_tests_num)
{
test_num++;
abs_smoke_test_view(test_num,test_value1,test_value2);
PlaySoundFile("! Click.rso");
while(nNxtButtonPressed==kRightButton){}
}
}
PlaySoundFile("! Click.rso");
while(nNxtButtonPressed==kEnterButton){}
abs_smoke_execute(test_num);
abs_smoke_test_view(test_num,test_value1,test_value2);
}
}
// Pass in the number of the song you want to loop, method must be checked every frame
HRESULT SoundManager::LoopSound(int songNum)
{
HRESULT hr;
// find the state of the source voice that is playing our song
if(pSourceVoice != NULL)
{
XAUDIO2_VOICE_STATE state;
pSourceVoice[songNum]->GetState( &state );
// if the song isn't looping, play it
if(!isSongLooping)
{
if( FAILED(hr = PlaySoundFile(songNum)))
return hr;
// buffer the same song to be played after this one is done
loopingSourceVoice = pSourceVoice[songNum];
loopingSourceVoice->SubmitSourceBuffer(&buffer[songNum]);
isSongLooping = true;
}
else if(state.BuffersQueued == NULL) // a playthrough has finished, we are no longer looping
{
isSongLooping = false;
pSourceVoice[songNum]->Stop(0, XAUDIO2_COMMIT_NOW);
}
}
return 0;
}
void CSoundOptionsDlg::OnPlay2()
{
CString Temp;
m_ProcessCompleteCtrl.GetWindowText(Temp);
PlaySoundFile ( Temp );
}
int CDuffDlg::Search()
{
m_Status.SetWindowText( StringFromResource(IDS_STATUS_BUSY) );
if (m_bAnimateControl)
{
m_AnimateControl.ShowWindow(SW_SHOW);
m_AnimateControl.Play(ALL);
}
g_DupeFileFind.StartSearch();
if (m_bAnimateControl)
{
m_AnimateControl.Stop();
}
m_Status.SetWindowText( StringFromResource(IDS_STATUS_IDLE) );
OnTimer(TIMER_PROGRESS);
KillTimer(TIMER_PROGRESS);
if ( theApp.m_DuffOptions.Sound.Enabled )
PlaySoundFile( theApp.m_DuffOptions.Sound.ProcessComplete );
return 0;
}
void getButton() { //gets next button press
while (true) {
button = nNxtButtonPressed;
if (button != -1)
break;
}
PlaySoundFile("! Click.rso");
while(nNxtButtonPressed != -1) {
}
}
void initializeRobot()
{
// Place code here to initialize servos to starting positions.
if (nAvgBatteryLevel < 8000) { // brick under 8.0 volts
PlayImmediateTone(1000, 100); // play a warning tone
PlaySoundFile("NxtBatteryLow.rso");
}
if (externalBatteryAvg < 12000) { // main battery under 12.0
int i;
// play a warning siren once for
// every tenth of a volt too low
for (i = 0; i < (14000 - externalBatteryAvg) / 100; i++) {
PlayImmediateTone(2000, 300); // play a warning tone
PlaySoundFile("ExternalBatteryLow.rso");
}
}
return;
}
void PressBumperToContinue()
{
nxtScrollText("");
nxtScrollText("press button");
nxtScrollText("to continue");
PlaySoundFile("! Attention.rso");
while (!TSreadState(BUMPER))
wait1Msec(10); // not pressed
while (TSreadState(BUMPER))
wait1Msec(10); // pressed
wait1Msec(500);
}
void initializeRobot()
{
// Place code here to sinitialize servos to starting positions.
// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.
if (nAvgBatteryLevel < 8000) { // brick under 8.0 volts
PlayImmediateTone(1000, 100); // play a warning tone
PlaySoundFile("NxtBatteryLow.rso");
}
if (externalBatteryAvg < 14000) { // main battery under 14.0
int i;
// play a warning siren once for
// every tenth of a volt too low
for (i = 0; i < (14000 - externalBatteryAvg) / 100; i++) {
PlayImmediateTone(2000, 300); // play a warning tone
PlaySoundFile("ExternalBatteryLow.rso");
}
}
return;
}
void PlayEndSound()
{
nVolume = 4;
PlaySoundFile("stopped.rso");
while (bSoundActive)
{};
wait1Msec(1000);
PlaySound(soundFastUpwardTones);
while (bSoundActive)
{};
wait1Msec(2000);
while (true)
{
PlaySoundFile("3.rso");
PlaySoundFile("7.rso");
PlaySoundFile("6.rso");
PlaySoundFile("3.rso");
while (bSoundActive)
{};
wait1Msec(1000);
}
}
void
PlaySoundForColor (ColorClass cc)
{
switch (cc) {
case ColorShout:
PlaySoundFile(appData.soundShout);
break;
case ColorSShout:
PlaySoundFile(appData.soundSShout);
break;
case ColorChannel1:
PlaySoundFile(appData.soundChannel1);
break;
case ColorChannel:
PlaySoundFile(appData.soundChannel);
break;
case ColorKibitz:
PlaySoundFile(appData.soundKibitz);
break;
case ColorTell:
PlaySoundFile(appData.soundTell);
break;
case ColorChallenge:
PlaySoundFile(appData.soundChallenge);
break;
case ColorRequest:
PlaySoundFile(appData.soundRequest);
break;
case ColorSeek:
PlaySoundFile(appData.soundSeek);
break;
case ColorNormal:
case ColorNone:
default:
break;
}
}
// Play the Sound File identified by name and path
HRESULT SoundManager::PlaySoundFile(char* songName)
{
int songNum = -1;
// look for the song in out list of songs
for(int i = 0; i < numOfFiles; i++)
{
char* fileName = songsLoaded[i];
if(strcmp(songName, fileName) == 0)
{
songNum = i;
break;
}
}
// Could not find the song so exit out of the method
if(songNum == -1)
return -1;
PlaySoundFile(songNum);
return 0;
}
task main()
{
waitForStart();
initializeRobot();
// The amount of time the robot...
// ...moves forward at an angle.
const int forwardTimeA = 150;
// ...turns to line up perpendicular to the center rack.
const int turnTimeB = 40;
// ...drives up to the peg before lifting the lift up.
const int forwardTimeC = 155;
// ...lifts the claw to put a ring on (row 2).
const int liftTimeF = 79;
// ...moves forward, putting the ring onto the peg.
const int forwardTimeG = 65;
// ...lowers its lift to get rid of the ring.
const int liftTimeH = 55;
// ...backs up and gets ready to go to a dispenser.
const int backwardTimeI = 300;
// ...turns to face parallel to the walls.
const int turnTimeJ = 40;
// ...moves forward to align itself with a dispenser.
const int forwardTimeK = 100;
// ...turns to face the dispenser.
const int turnTimeL = 80;
// ...moves forward to be under the dispenser.
const int forwardTimeM = 50;
Move_Forward (forwardTimeA, g_AccurateMotorPower);
Turn_Left (turnTimeB, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeC, g_AccurateMotorPower);
Lift_Lift (liftTimeF, g_AccurateMotorPower);
Move_Forward (forwardTimeG, g_AccurateMotorPower);
// Lift power is negative so that the lift goes DOWN, not UP.
Lift_Lift (liftTimeH, (-1) * g_AccurateMotorPower);
Move_Backward (backwardTimeI, g_AccurateMotorPower);
// Turn power doesn't need to be negative (turns in-place).
Turn_Left (turnTimeJ, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeK, g_AccurateMotorPower);
Turn_Left (turnTimeL, g_AccurateMotorPower, g_AccurateMotorPower);
Move_Forward (forwardTimeM, g_AccurateMotorPower);
while (true)
{
PlaySoundFile("moo.rso");
while(bSoundActive == true)
{
Time_Wait(1);
}
}
}
void track_wall()
{
float distanciaParaParar = 20;
float distanciaAlMuro = 20;
float umbral = 0;
float v = 0.2;
float w = 0;
// Para evitar el esmorramiento contra un muro frontal
while(SensorValue[sonarSensorFrontal] > distanciaParaParar)
{
AcquireMutex(semaphore_odometry);
float x = robot_odometry.x;
float y = robot_odometry.y;
float th = robot_odometry.th;
ReleaseMutex(semaphore_odometry);
float sval = SensorValue[sonarSensorLateral];
string temp;
StringFormat(temp, "%.2f", sval);
nxtDisplayBigTextLine(2, temp);
string temp2;
StringFormat(temp2, "%.2f", th);
nxtDisplayBigTextLine(5, temp2);
// Oscila a una distancia segura de la pared lateral
// Debe girar a la derecha porque se esta alejando
if (SensorValue[sonarSensorLateral] > distanciaAlMuro + umbral) {
w = -v;
if(th < -0.2){
w = 0;
}
}
// Debe girar a la izquierda porque se esta acercando
else if(SensorValue[sonarSensorLateral] < distanciaAlMuro - umbral) {
w = v;
if(th > 0.2){
w = 0;
}
} else {
if(th > 0.2){
w = -(v*0.9);
} else if(th < -0.2){
w = v*0.9;
} else{
w = 0;
}
}
setSpeed(v,w);
}
// Gira al encontrarse con un muro de frente
float theta, thetaFinal;
float errorTheta = 0.005;
// turn 90 degrees on the robot
setSpeed(0,0);
// condicion de parada
AcquireMutex(semaphore_odometry);
float x = robot_odometry.x;
float y = robot_odometry.y;
float th = robot_odometry.th;
ReleaseMutex(semaphore_odometry);
theta = th;
thetaFinal = (PI)/2;
PlaySoundFile("wilhelmA.rso");
Sleep(1200);
v = 0;
w = 1.5;
setSpeed(v,w);
while(abs(theta - thetaFinal) > errorTheta) {
//nxtDisplayTextLine(3, "dist %2.2f", euclideanDistance(x,xFinal,y,yFinal));
//nxtDisplayTextLine(4, "Theta: %2.2f", abs(theta - thetaFinal));
AcquireMutex(semaphore_odometry);
theta = robot_odometry.th;
ReleaseMutex(semaphore_odometry);
}
}
void
PlayIcsLossSound ()
{
PlaySoundFile(appData.soundIcsLoss);
}
void
PlayIcsWinSound ()
{
PlaySoundFile(appData.soundIcsWin);
}
void CDuffDlg::OnTimer(UINT /*nIDEvent*/)
{
int i;
CString Temp;
CFileInfo * pFileInfo;
int PercentDone;
if ( g_DupeFileFind.m_DuffStatus.LockIfUnlocked() )
{
m_CurrentTaskText.SetWindowText(g_DupeFileFind.m_DuffStatus.CurrentTaskStr );
m_CurrentTaskInfoText.SetWindowText(g_DupeFileFind.m_DuffStatus.CurrentTaskInfo );
m_ProgressEntire.SetRange64( g_DupeFileFind.m_DuffStatus.MainProgress.Min, g_DupeFileFind.m_DuffStatus.MainProgress.Max );
m_ProgressEntire.SetPos64( g_DupeFileFind.m_DuffStatus.MainProgress.Pos );
PercentDone = 0;
if ( g_DupeFileFind.m_DuffStatus.MainProgress.Max )
PercentDone = (int) ( 100 * (double)g_DupeFileFind.m_DuffStatus.MainProgress.Pos/ (double)g_DupeFileFind.m_DuffStatus.MainProgress.Max);
Temp.Format( _T("%03d %%") ,PercentDone);
m_RangeEntire.SetWindowText(Temp);
m_ProgressSub1.SetRange64( g_DupeFileFind.m_DuffStatus.SubProgress1.Min, g_DupeFileFind.m_DuffStatus.SubProgress1.Max );
m_ProgressSub1.SetPos64( g_DupeFileFind.m_DuffStatus.SubProgress1.Pos );
PercentDone = 0;
if ( g_DupeFileFind.m_DuffStatus.SubProgress1.Max )
PercentDone = (int)(100 * (double)g_DupeFileFind.m_DuffStatus.SubProgress1.Pos / (double)g_DupeFileFind.m_DuffStatus.SubProgress1.Max);
Temp.Format( _T("%03d %%") ,PercentDone);
m_SubRange1.SetWindowText(Temp);
m_ProgressSub2.SetRange64( g_DupeFileFind.m_DuffStatus.SubProgress2.Min, g_DupeFileFind.m_DuffStatus.SubProgress2.Max );
m_ProgressSub2.SetPos64( g_DupeFileFind.m_DuffStatus.SubProgress2.Pos );
PercentDone = 0;
if ( g_DupeFileFind.m_DuffStatus.SubProgress2.Max )
PercentDone = (int)(100 * (double)g_DupeFileFind.m_DuffStatus.SubProgress2.Pos / (double)g_DupeFileFind.m_DuffStatus.SubProgress2.Max);
Temp.Format( _T("%03d %%") ,PercentDone);
m_SubRange2.SetWindowText(Temp);
for ( i = 0; i < g_DupeFileFind.m_DuffStatus.LogQueue.GetSize(); i++ )
{
Log( g_DupeFileFind.m_DuffStatus.LogQueue.ElementAt(i) );
}
g_DupeFileFind.m_DuffStatus.LogQueue.RemoveAll();
if ( g_DupeFileFind.m_DuffStatus.DupeQueue.GetSize() && theApp.m_DuffOptions.Sound.Enabled )
{
PlaySoundFile( theApp.m_DuffOptions.Sound.FoundDuplicate);
}
for ( i = 0; i < g_DupeFileFind.m_DuffStatus.DupeQueue.GetSize(); i++ )
{
pFileInfo = g_DupeFileFind.m_DuffStatus.DupeQueue.ElementAt(i);
ASSERT(pFileInfo);
m_DuplicatePage.AddItem(pFileInfo);
/*
if ( pFileInfo->FirstFile )
{
m_DuplicatePage.m_DuplicateSetCounter ++;
}
// add duplicates to list view
Temp.Format("%d", m_DuplicatePage.m_DuplicateSetCounter);
m_DuplicatePage.m_DupeList.InsertItem(LVIF_PARAM | LVIF_TEXT, m_DuplicatePage.m_TotalFilesCounter, Temp,NULL,NULL,NULL,(DWORD) pFileInfo );
m_DuplicatePage.m_DupeList.SetItemText( m_DuplicatePage.m_TotalFilesCounter-1,1, pFileInfo ->FullName );
buffer[0] = 0;
ulonglong2str(buffer,pFileInfo->Size);
m_DuplicatePage.m_DupeList.SetItemText( m_DuplicatePage.m_TotalFilesCounter-1,2,buffer);
pFileInfo->InitVersion();
m_DuplicatePage.m_DupeList.SetItemText( m_DuplicatePage.m_TotalFilesCounter-1,3, pFileInfo->GetFileVersionStr());
//
*/
}
g_DupeFileFind.m_DuffStatus.DupeQueue.RemoveAll();
if ( theApp.m_DuffOptions.General.AutoScrollDupeList )
{
//if ( (unsigned long)(m_DuplicatePage.m_DupeList.GetTopIndex() + m_DuplicatePage.m_DupeList.GetCountPerPage()) == m_DuplicatePage.m_TotalFilesCounter -1 ||
// (unsigned long)(m_DuplicatePage.m_DupeList.GetCountPerPage()) > m_DuplicatePage.m_TotalFilesCounter -1
// )
m_DuplicatePage.m_DupeList.EnsureVisible((int)m_DuplicatePage.GetNumFiles()-1, FALSE);
}
g_DupeFileFind.m_DuffStatus.Unlock();
}
//CResizableDialog::OnTimer(nIDEvent);
}
//==========================================
//==========================================
//==========================================
task selector()
{
wait1Msec(1000);
while((nNxtButtonPressed != kEnterButton))
{
if (nNxtButtonPressed == kLeftButton)
{
while(nNxtButtonPressed ==kLeftButton){};
MissionNumber = MissionNumber-1;
PlaySoundFile("! Click.rso");
}
if (MissionNumber < 1)
{
MissionNumber = 1;
}
if (MissionNumber > 20)
{
MissionNumber = 20;
}
if (nNxtButtonPressed == kRightButton)
{
while(nNxtButtonPressed ==kRightButton){};
MissionNumber = MissionNumber+1;
PlaySoundFile("! Click.rso");
}
nxtDisplayBigTextLine(2, "Mission");
nxtDisplayBigTextLine(5, "%2d", MissionNumber);
}
eraseDisplay();
string tmp = "";
StringFormat(tmp, "%3d", MissionNumber);
nxtDisplayBigStringAt(20,18,tmp);
while(nNxtButtonPressed == kEnterButton)
{}
eraseDisplay();
while(nNxtButtonPressed != kEnterButton)
{
nxtDisplayBigTextLine(6, "SecDelay");
nxtDisplayBigTextLine(4, "%3d", time_selector);
if (nNxtButtonPressed == kLeftButton)
{
while(nNxtButtonPressed ==kLeftButton){};
time_selector = time_selector-1;
PlaySoundFile("! Click.rso");
}
if (nNxtButtonPressed == kRightButton)
{
while(nNxtButtonPressed ==kRightButton){}
time_selector = time_selector+1;
PlaySoundFile("! Click.rso");
}
if(time_selector > 30) time_selector = 30;
if(time_selector < 0) time_selector = 0;
}
PlaySound(soundException);
wait1Msec(200);
eraseDisplay();
while(nNxtButtonPressed == kEnterButton){}
while(nNxtButtonPressed != kEnterButton)
{
nxtDisplayBigTextLine(6, "gyro_cal");
nxtDisplayBigTextLine(4, "%2d", gyroCalTime);
if(nNxtButtonPressed == kLeftButton)
{
while(nNxtButtonPressed == kLeftButton){}
gyroCalTime = gyroCalTime-1;
PlaySoundFile("! Click.rso");
}
if(nNxtButtonPressed == kRightButton)
{
while(nNxtButtonPressed == kRightButton){}
gyroCalTime = gyroCalTime+1;
PlaySoundFile("! Click.rso");
}
if(gyroCalTime > 15) gyroCalTime = 15;
if(gyroCalTime < 0) gyroCalTime = 0;
}
if(gyroCalTime > 0) calibrate = 1;
PlaySound(soundException);
eraseDisplay();
}
void checkLocalCell()
{
//uses a normalised version of the localTemp. The comparison local cells are stored as normalised when 1st created
char z;
char match = 0;
float dotTempValue = 0;
float tempAngle = 0;
if(nextEmptyCell == 0)
{
//first localCellView
fillStructArray(nextEmptyCell);
nextEmptyCell++;
//eraseDisplay();
//nxtDisplayCenteredTextLine(3, "New Cell Created");
//wait1Msec(1000);
//eraseDisplay();
PlaySoundFile("! Attention.rso");
while(bSoundActive) {}
}
else {
for(z = 0; z<nextEmptyCell; z++)
{
//search for a previous local cell that matches the current view to a certain degree
fillLocalComparison(z);
dotTempValue = dotMultiply();
tempAngle = acos(dotTempValue);
eraseDisplay();
nxtDisplayString(5, "%3.3f", tempAngle);
wait1Msec(1000);
if(tempAngle<0.17)
{
//a match - need to check
match = 1;
break;
}
}
if(match == 0)
{//no match found - create a new local view cell
fillStructArray(nextEmptyCell);
nextEmptyCell++;
// eraseDisplay();
// nxtDisplayCenteredTextLine(3, "No Match");
// nxtDisplayCenteredTextLine(4, "New Cell Created");
// wait1Msec(1000);
// eraseDisplay();
PlaySoundFile("! Attention.rso");
while(bSoundActive) {}
}
else if(match == 1)
{
// eraseDisplay();
// nxtDisplayCenteredTextLine(3, "Match");
// wait1Msec(1000);
// eraseDisplay();
PlaySoundFile("Woops.rso");
while(bSoundActive) {}
}
}
}
void
PlayIcsDrawSound ()
{
PlaySoundFile(appData.soundIcsDraw);
}
void
PlayAlarmSound ()
{
PlaySoundFile(appData.soundIcsAlarm);
}
void
PlayIcsUnfinishedSound ()
{
PlaySoundFile(appData.soundIcsUnfinished);
}
void CSoundOptionsDlg::OnPlay1()
{
CString Temp;
m_FoundDuplicateCtrl.GetWindowText(Temp);
PlaySoundFile ( Temp );
}
void
PlayTellSound ()
{
PlaySoundFile(appData.soundTell);
}
void
RingBell ()
{
PlaySoundFile(appData.soundMove);
}
void MechanismControl(Controller& controller)
{
// slide adjustment w/horizontal of DPad
if ( controller.isFresh )
{
if ( controller.dPad.x == -1 ) servo[Slide] += kSlideIncrement;
else if ( controller.dPad.x == 1 ) servo[Slide] -= kSlideIncrement;
}
// intake
if ( controller.leftJoystick.y > .25 )
{
servo[Intake] = kIntakeReverse;
}
else if ( controller.leftJoystick.y < -.25 )
{
servo[Intake] = kIntakeOn;
}
else
{
servo[Intake] = kIntakeOff;
}
// R1 kicks batons, but only when the elevator is at the top
if ( ControllerButtonIsPressed(controller, ControllerButtonR1) && ElevatorIsAtTop() )
{
if ( !MechanismKickerIsKicking )
{
StartTask(MechanismKickerKick);
PlaySoundFile("ChaChing.rso");
}
}
// FIXME: slide positions
#define ABORT_ELEVATOR_TARGET() StopTask(MechanismElevatorTargetTask)
if ( MechanismElevatorIsTargeting == false )
{
if ( ControllerButtonIsPressed(controller, ControllerButton2) )
{
ABORT_ELEVATOR_TARGET();
MechanismElevatorTargetEncoder = kElevatorTargetMidDispenser;
StartTask(MechanismElevatorTargetTask);
}
else if ( ControllerButtonIsPressed(controller, ControllerButton3) )
{
ABORT_ELEVATOR_TARGET();
MechanismElevatorTargetEncoder = kElevatorTargetHighDispenser;
StartTask(MechanismElevatorTargetTask);
}
else if ( ControllerButtonIsPressed(controller, ControllerButton4) )
{
ABORT_ELEVATOR_TARGET();
MechanismElevatorTargetEncoder = kElevatorTargetBridgeCrossing;
StartTask(MechanismElevatorTargetTask);
}
}
if ( !MechanismElevatorIsTargeting )
{
// elevator up/down control with L1 & L2
if ( controller.dPad.y > .5 && !ElevatorIsAtTop() )
{
motor[Elevator] = kElevatorSpeed;
}
else if ( controller.dPad.y < -.5 && !ElevatorIsAtBottom() )
{
motor[Elevator] = -kElevatorSpeed;
}
else
{
motor[Elevator] = 0;
}
}
if ( ControllerButtonIsPressed(controller, ControllerButtonL1) )
{
servo[Slide] = kSlideRegularPosition;
}
else if ( ControllerButtonIsPressed(controller, ControllerButtonL2) )
{
servo[Slide] = kSlideDownPosition;
}
}
// ============================== INPUT HANDLING ========================================
long TsounEditForm::DoControlClick( long arg, void *ptr )
{
#ifdef __MWERKS__
#pragma unused(ptr)
#endif
XGListControl *pList = dynamic_cast<XGListControl *>(GetWindow()->FindViewByID( 12314 ));
int sel = pList->GetValue();
tag_entry* e;
tag new_id;
switch( arg )
{
case 12302: // Choose a tag
new_id = pick_tag_of_type( 'stli', GetTag( 12302 ), fEntry );
if( new_id != 0 )
{
def.subtitle_string_list_tag = new_id;
SetTag( 12302, 'stli', new_id );
SetValues();
}
break;
case 12303: // Open tag window
e = get_entry( 'stli', GetTag( 12302 ) );
if( e )
TRevengeApp::OpenItem( e );
break;
case 12315: // Add
{
assert( def.number_of_permutations < MAXIMUM_PERMUTATIONS_PER_SOUND );
XGFileSpecifier *fs = NULL;
#if OPT_MACOS
fs = XGFileSpecifier::OpenDialog( 129 );
#endif
#if OPT_WINOS
fs = XGFileSpecifier::OpenDialog( "Wave Audio File|*.wav","WAV" );
#endif
#if OPT_XWIN
fs = XGFileSpecifier::OpenDialog( "wav" );
#endif
if( !fs )
return 0;
if( LoadSoundFile( def, fs ) == LOAD_SOUND_ERROR_SUCCESS )
{
pList->Insert( def.number_of_permutations, def.sound_permutations[def.number_of_permutations].name );
pList->SetValue( def.number_of_permutations );
def.number_of_permutations++;
// update perutations size and sound_offset
def.permutations_size += sizeof(sound_permutation_data);
def.sound_offset += sizeof(sound_permutation_data);
DoListSelect( 12314, NULL );
}
delete fs;
}
break;
case 12316: // Duplicate
{
assert( def.number_of_permutations < MAXIMUM_PERMUTATIONS_PER_SOUND );
assert( sel != -1 && sel < def.number_of_permutations && sel < MAXIMUM_PERMUTATIONS_PER_SOUND );
int perm = def.number_of_permutations;
int sample_size;
// update our sound_size
if( def.sampled_sound_headers[sel].flags & _sound_is_ima_compressed_flag )
sample_size = def.sampled_sound_headers[sel].number_of_samples * sizeof(apple_ima_packet_chunk);
else
sample_size = def.sampled_sound_headers[sel].number_of_samples << def.sampled_sound_headers[sel].physical_bytes_per_sample_minus_one;
def.sound_size += (sample_size + sizeof(sampled_sound_header));
// copy the headers to the new permutaion slot
def.sound_permutations[perm] = def.sound_permutations[sel];
def.sampled_sound_headers[perm] = def.sampled_sound_headers[sel];
// make a duplicate of the samples buffer
assert( def.sampled_sound_headers[sel].samples );
def.sampled_sound_headers[perm].samples = malloc( sample_size );
memcpy( def.sampled_sound_headers[perm].samples, def.sampled_sound_headers[sel].samples, sample_size );
def.number_of_permutations++;
// update perutations size and sound_offset
def.permutations_size += sizeof(sound_permutation_data);
def.sound_offset += sizeof(sound_permutation_data);
// update the permutation list
SetValues();
}
break;
case 12317: // Delete
{
assert( def.number_of_permutations > 0 );
assert( sel > -1 && sel < def.number_of_permutations && sel < MAXIMUM_PERMUTATIONS_PER_SOUND );
int sample_size;
int ii;
// update our sound_size
if( def.sampled_sound_headers[sel].flags & _sound_is_ima_compressed_flag )
sample_size = def.sampled_sound_headers[sel].number_of_samples * sizeof(apple_ima_packet_chunk);
else
sample_size = def.sampled_sound_headers[sel].number_of_samples << def.sampled_sound_headers[sel].physical_bytes_per_sample_minus_one;
def.sound_size -= (sample_size - sizeof(sampled_sound_header));
assert( def.sound_size >= 0 );
// free any data associated with our victim permutation
assert( def.sampled_sound_headers[sel].samples ); // there is something wrong if no data here
if( def.sampled_sound_headers[sel].samples )
free( def.sampled_sound_headers[sel].samples );
// move everything past the sel back one
for( ii = sel; ii + 1 < def.number_of_permutations; ii++ )
{
def.sound_permutations[ii] = def.sound_permutations[ii + 1];
def.sampled_sound_headers[ii] = def.sampled_sound_headers[ii + 1];
}
// zero out the extra permutation
memset( &def.sound_permutations[ii], 0x00, sizeof(sound_permutation_data) );
memset( &def.sampled_sound_headers[ii], 0x00, sizeof(sampled_sound_header) );
def.number_of_permutations--;
// update perutations size and sound_offset
def.permutations_size -= sizeof(sound_permutation_data);
def.sound_offset -= sizeof(sound_permutation_data);
// remove the item from the permutation list
SetValues();
}
break;
case 12319: // Play sound
{
assert( def.number_of_permutations > 0 );
assert( sel > -1 && sel < def.number_of_permutations && sel < MAXIMUM_PERMUTATIONS_PER_SOUND );
PlaySoundFile();
}
break;
default:
return -1;
}
UpdatePermutationControls();
return 0;
}
task main()
{
waitForStart(); // Wait for the tele-op period to begin
nMotorEncoder(motorLift1) = 0; // Reset the motor encoders for the arm
servoTarget(clawL) = 225; // Initialize the claw to be open
servoTarget(clawR) = 60;
PlaySoundFile("Leroy.rso"); // Shout "LEEROY JENKINS!", just for fun
wait1Msec(10); // Wait one tenth of a second
while (true)
{
getJoystickSettings(joystick); // Read the value of the joysticks
nxtDisplayTextLine(6, "Encoder: %d", nMotorEncoder[motorLift1]); // Display the value of the arm encoder
// The following code makes the directional pad on controller 1 give precise digital control of the drivetrain:
if (joystick.joy1_TopHat == 0) // If "up" on the directional pad is pressed:
{
go_forward(25); // Go forward at 25% speed
}
else if (joystick.joy1_TopHat == 1) // Else if "top right" on the directional pad is pressed:
{
strafe_forward_right(25); // Strafe diagonally forward and to the right at 25% speed
}
else if (joystick.joy1_TopHat == 2) // Else if "right" on the directional pad is pressed:
{
strafe_right(25); // Strafe to the right at 25% speed
}
else if (joystick.joy1_TopHat == 3) // Else if "bottom right" on the directional pad is pressed:
{
strafe_backward_right(25); // Strafe diagonally backward and to the right 25% speed
}
else if (joystick.joy1_TopHat == 4) // Else if "down" on the directional pad is pressed:
{
go_backward(25); // Go backward 25% speed
}
else if (joystick.joy1_TopHat == 5) // Else if "bottom left" on the directional pad is pressed:
{
strafe_backward_left(25); // Strafe diagonally backward and to the left 25% speed
}
else if (joystick.joy1_TopHat == 6) // Else if "left" on the directional pad is pressed:
{
strafe_left(25); // Strafe left 25% speed
}
else if (joystick.joy1_TopHat == 7) // Else if "top left" on the directional pad is pressed:
{
strafe_forward_left(25); // Strafe diagonally forward and to the left 25% speed
}
else if (joy1Btn(5)) // Else if button 6 is pressed:
{
rotate_clockwise(25); // Rotate the robot clockwise 25% speed
}
else if (joy1Btn(6)) // Else if button 5 is pressed:
{
rotate_counter_clockwise(25); // Rotate the robot counter-clockwise 25% speed
}
// The following code makes the joysticks on controller 1 give analogue control of the drivetrain:
else
{
motor[motorFL] = scale_motor(joystick.joy1_y1 + joystick.joy1_x1 + joystick.joy1_x2); // Scale the motors to the average
motor[motorFR] = scale_motor(joystick.joy1_y1 + -joystick.joy1_x1 - joystick.joy1_x2); //of the left joystick Y value and
motor[motorBR] = scale_motor(joystick.joy1_y1 + joystick.joy1_x1 - joystick.joy1_x2); //the right joystick X value
motor[motorBL] = scale_motor(joystick.joy1_y1 + -joystick.joy1_x1 + joystick.joy1_x2);
}
// The following code assigns the shoulder buttons on controller 2 to open and close the claw:
if (joy2Btn(5))
{
servoTarget(clawL) = 55; // If button 5 is pressed on controller 2, close the claw
servoTarget(clawR) = 170;
}
else if (joy2Btn(6))
{
servoTarget(clawL) = 115; // If button 6 is pressed on controller 2, open the claw
servoTarget(clawR) = 100;
}
else if (joy2Btn(8))
{
servoTarget(clawL) = ServoValue(clawL) + 1; // While button 7 is held, slowly close the claw
servoTarget(clawR) = ServoValue(clawR) - 1;
}
else if (joy2Btn(7))
{
servoTarget(clawL) = ServoValue(clawL) - 1; // While button 8 is held, slowly open the claw
servoTarget(clawR) = ServoValue(clawR) + 1;
}
else
{
servoTarget(clawL) = ServoValue(clawL); // Otherwise, do not move the claw
servoTarget(clawR) = ServoValue(clawR);
}
// The following code gives analogue control of the arm with the joystick, and assigns buttons 1-4 to move the arm to their respective rows on the scoring rack
if (joy2Btn(1)) // If button 1 is pressed, move the arm to the lowest row on the scoring rack
{
moveArm(level1Value);
}
else if (joy2Btn(2)) // If button 2 is pressed, move the arm to the middle row on the scoring rack
{
moveArm(level2Value);
}
else if (joy2Btn(3)) // If button 3 is pressed, move the arm to the top row on the scoring rack
{
moveArm(level3Value);
}
else if (joy2Btn(4)) // If button 4 is pressed, lower the arm all the way
{
moveArm(0);
}
else
{
motor[motorLift1] = (joystick.joy2_y1 / 12); // Otherwise, control the arm with joystick 1 on controller 2
motor[motorLift1] = (joystick.joy2_y1 / 24); // Or control the arm at half speed with joystick 2 on controller 2
// Note: these values are divided by 12 and 24 to bring the arm speed down to a reasonable level
}
}
}
task main()
{
// This task dictates what the robot will do during the autonomous period
waitForStart(); // Wait for the start of the autonomous period
StartTask(counter); // Begin timing the program, for use later
PlaySoundFile("Leroy.rso"); // Shout "LEEROY JENKINS!", just for fun
nMotorEncoder(motorLift1) = 0; // Reset the motor encoders for the arm
servoTarget(clawL) = 55; // Close the claw to hold the ring
servoTarget(clawR) = 170;
wait1Msec(100); // Wait a tenth of a second
strafeToIR(); // Strafe parallel to the scoring rack until it is lined up with the IR beacon
wait1Msec(1000); // Wait for one second after this has been completed
strafeToIR(); // Strafe parallel to the scoring rack until it is lined up with the IR beacon
wait1Msec(1000); // Wait for one second after this has been completed
// Note: this is done twice to ensure accuracy
motor[motorFL] = 0; // Wait one tenth of a second in the stopped position
motor[motorFR] = 0;
motor[motorBR] = 0;
motor[motorBL] = 0;
wait1Msec(100);
// The following code is used to raise the arm to the correct height:
nMotorEncoderTarget[motorLift1] = -scoringPegHeight; // Set the motor encoder target for the arm to the height of the scoring peg
motor[motorLift1] = -armSpeed; // Raise the arm at the designated speed
while(nMotorRunState[motorLift1] != runStateIdle) // While the arm is still moving (hasn't reached the target yet)
{
// Do not continue
}
motor[motorLift1] = 0; // Once the arm has reached its target, stop moving
motor[motorFL] = 100; // Drive forward towards the scoring rack
motor[motorFR] = 100;
motor[motorBR] = 100;
motor[motorBL] = 100;
wait1Msec(3000);
motor[motorFL] = 0; // Wait one second in the stopped position
motor[motorFR] = 0;
motor[motorBR] = 0;
motor[motorBL] = 0;
wait1Msec(1000);
servoTarget(clawL) = 115; // Open the claw to place the ring on the scoring rack
servoTarget(clawR) = 100;
wait1Msec(1000);
motor[motorFL] = -100; // Reverse away from the scoring rack, leaving the ring on the rack
motor[motorFR] = -100;
motor[motorBR] = -100;
motor[motorBL] = -100;
wait1Msec(1800);
motor[motorFL] = 0; // Wait one second in the stopped position
motor[motorFR] = 0;
motor[motorBR] = 0;
motor[motorBL] = 0;
wait1Msec(1000);
servoTarget(clawL) = 55; // Close the claw
servoTarget(clawR) = 170;
wait1Msec(1000);
// The following code is used to lower the arm back down:
nMotorEncoderTarget[motorLift1] = 100; // Set the motor encoder target for the arm to the height of the scoring peg
motor[motorLift1] = armSpeed; // Raise the arm at the designated speed
while(nMotorRunState[motorLift1] != runStateIdle) // While the arm is still moving (hasn't reached the target yet)
{
// Do not continue
}
motor[motorLift1] = 0; // Once the arm has reached its target, stop moving
}
