void CCar::DriveForward()
{
Clutch();
if(0==CurrentTransmission()) Transmission(1);
if(1==CurrentTransmission()||0==CurrentTransmission())Starter();
Drive();
}
void CCar::DriveBack()
{
Clutch();
Transmission(0);
if(1==CurrentTransmission()||0==CurrentTransmission())Starter();
Drive();
}
void CCar::TransmissionDown()
{
if(0==CurrentTransmission())return;
size_t transmission=CurrentTransmission()-1;
transmission<1 ? transmission=1 : transmission;
Transmission(transmission);
}
void CCar::TransmissionUp()
{
if(0==CurrentTransmission())return;
size_t transmission=1+CurrentTransmission();
size_t max_transmition_num=m_gear_ratious.size()-1;
transmission>max_transmition_num ? transmission=max_transmition_num :transmission;
Transmission(transmission);
}
void CCar::CircleSwitchTransmission()
{
if(0==CurrentTransmission())return;
size_t transmission=1+CurrentTransmission();
transmission=transmission%m_gear_ratious.size();
0==transmission ? transmission++ : transmission;
Transmission(transmission);
}
void CCar::ReleaseForward()
{
if(bkp)
{
Clutch();
Transmission(0);
if(1==CurrentTransmission()||0==CurrentTransmission())Starter();
Drive();
}
else
{
Unclutch();
NeutralDrive();
}
fwp=false;
}
void CCar::ReleaseBack()
{
if(b_breaks)
{
StopBreaking();
}
if(fwp)
{
Clutch();
if(0==CurrentTransmission()) Transmission(1);
if(1==CurrentTransmission()||0==CurrentTransmission()) Starter();
Drive();
}
else
{
Unclutch();
NeutralDrive();
}
bkp=false;
}
Transmission generateTransmission()
{
int numGears(0);
double valueHold(0);
bool hasEtas;
std::string transName;
std::vector<double> gearRatios, gearEtas;
std::cout << "Enter number of gears: ";
numGears = util::getSanitizedInput<int>(1,LOWER_BOUND);
gearRatios.resize(numGears);
gearEtas.assign(numGears, 1);
hasEtas = util::yesNo("Does this gearbox have efficiencies?");
std::cout << "Enter gearbox name: ";
transName = util::getSanitizedInput<std::string>();
//Prompts user to enter values for the transmission
for (int i = 0; i < numGears; ++i)
{
std::cout << "Enter gear ratio for gear " << (i + 1) << ": ";
if (i == 0)
valueHold = util::getSanitizedInput<double>();
else
valueHold = util::getSanitizedInput<double>(0, gearRatios[i - 1]);
gearRatios[i] = valueHold;
if (hasEtas)
{
std::cout << "Enter efficiency for gear " << (i + 1) << ": ";
valueHold = util::getSanitizedInput<double>(0,1);
gearEtas[i] = valueHold;
}
}
return Transmission(gearRatios, gearEtas, transName);
}
/*----------------------------------------------------------------------------*/
void BlueAuto2(void)
{
///4 PRELOADS 3 PILE
/// STARTING TYLE IS FURTHERST TYLE
int YouAreGoodToCount = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
DistanceCalculatorTurn(1);
while(DistanceCalculatorTurn(0) < 15) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 50);
}
Break2(100,-10);
delay(200);
stage = 1;
SetRPM(2200);
DistanceCalculator(1);
while(DistanceCalculator(0) < 12) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
}
clearTimer(T3);
while(SensorValue[IR1] == 1 ) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 6000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(35, 40,3000) == 1)//17 // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
if(FailSafeEngaged == 1)Blue1FailInfinite();/////////////////////RED1FAIL1
}
IntakePower(0);
while(LineStatus() == 0)
{
Move(-2, 100);
}
Break(100,-10);
while(MoveDist(3, 30,0) == 1);
delay(200);
SetRPM(2200);
while(LineStatus() == 0) //TURN UNTIL YOU SEE THE LINE
{
Move(1, 20);
}
DistanceCalculator(1);
while(LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatusOffset() == 1)
{
DistanceCalculator(1);
YouAreGoodToCount = 1;
}
if(DistanceCalculator(0) > 18 && YouAreGoodToCount == 1)
{
DistanceCalculator(1);
break;
}
}
if(DistanceCalculator(0) < 50 && YouAreGoodToCount == 0)Blue1FailInfinite();//**FAIL GOOD
Break(100,20);
delay(500);
IntakePower(127);///SHOT FIRST PILE
delay(3000);
ShootingMode = 3;
StopDrive();
stage = 1;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
clearTimer(T3);
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
if(time1[T3] > 10000)
{
break;
}
IntakeOnAuto();
}
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 37 )//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
if(time1[T3] > 10000)
{
break;
}
}
MoveTime(500,127);
StopDrive();
delay(500);
IntakePower(127);///SHOT BAR SHOTS
delay(3500);
IntakePower(0);
SetRPM(2200);
stage = 1;
//////////////////////////////////////////////////////SHOT 8 COMPLETE
DistanceCalculator(1);
while(DistanceCalculator(0) < 50) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-2, 127);
}
Break(200,-15);
delay(200);
DistanceCalculatorTurn(1);
clearTimer(T3);
while(DistanceCalculatorTurn(0) < 62) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 100);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
Break2(100,10);
delay(300);
DistanceCalculator(1);
clearTimer(T3);
while(DistanceCalculator(0) < 24) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
clearTimer(T3);
while(SensorValue[IR1] == 1 )//PILE BY THE WALL
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(19, 35,2000) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
IntakePower(0);
///////////////////////////////////////////////////////////////////////////////////PICK UP 3RD
SetRPM(2200);
clearTimer(T3);
while(LineStatus() == 0 )
{
Move(-2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(200,-15);
while(MoveDist(3, 40,0) == 1);
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
DistanceCalculator(1);
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 12)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(100,20);
StopDrive();
delay(500);
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(3000);
TurnDegree(-45,100,2000);
while(MoveDist(24, 40,0) == 1);
ShootingMode = 4;
KillALL();
while(1);
}
int UWFEditFile(char *nomfen,char *nomfichier)
{
FILE *input;
TIdFile *pIdent;
int n;
long taille;
// on commence par essayer d'ouvrir le fichier d'entrée
input = fopen(nomfichier,"rb");
if (input == NULL) {
Transmission(ERR_OUV);
return ERR_OUV;
}
// on verifie que toutes les allocations sont correctes
if ((pIdent=Init_ID(nomfen))==NULL) {
Transmission(ERR_ALLOC);
return ERR_ALLOC;
}
// ouverture du BIT_FILE de sortie
if ((pIdent->fichier=OpenOutputBitFile(pIdent->nomFichierSortie))
== NULL) {
Transmission(ERR_ECRIT);
return ERR_ECRIT;
}
// on ecrit le nom de la fenetre en tete du premier bloc
EcrireNomFen(nomfen,pIdent->fichier);
// on compresse le fichier et on verifie que tout ce passe bien
// il peut y avoir deux types d'erreur pendant la compression :
// - probleme d'allocation pour le dictionnaire
// - probleme d'écriture sur le disque du fichier compressé
taille=file_size(input);
n=Compresser(pIdent,input,taille);
// on referme le fichier de données initiales
fclose(input);
// on referme le fichier temporaire
CloseOutputBitFile(pIdent->fichier);
pIdent->fichier==NULL;
// on ouvre le fichier temporaire en lecture
if ((pIdent->Lecture=fopen(pIdent->nomFichierSortie,"rb"))==NULL)
return ERR_OUV;
// on vérifie que la compression c'est bien passée
if (n==ERR_ALLOC || n==ERR_ECRIT) {
Transmission(ERR_COMP);
return ERR_COMP;
}
// on ajoute le nouveau fichier en tete de file
InsererTete(pIdent);
// on commence la transmission
return Transmission(0);
}
void RedAuto1(void)
{
int Launch = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
stage = 1;
TurnDegree(-10,40,0); // DO WE NEED FAILSAFE HERE?
delay(200);
Move(2,127);
delay(500);
clearTimer(T3);
while(SensorValue[IR1] == 1) //*FAILSAFE ?WHAT IF WE DONT SEE ANY BALLS
{
IntakeOnAuto();
Move(2,20);
if(time1[T3] > 8000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(40, 50,0) == 1) //*FAILSAFE ?WHAT IF WE ARE BLOCKED (ROBOT FINISHED ABOUT MID COURT)
{
if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1
IntakeOnAuto();
}
IntakePower(0);
TurnDegree(-45,127,2000); //*FAILSAFE ?WHAT IF WE ARE BLOCKED
if(FailSafeEngaged == 1)Red1FailInfinite();
delay(200);
SetRPM(2250);//LAUNCHER ON (NEXT SHOOTING RPM)
clearTimer(T3);
while(LineStatus() == 0) //*FAILSAFE AT WHAT POINT DO WE STOP MOVING? WHAT IF WE ARE OF COURSE?
{
Move(-2,30);
if(time1[T3] > 3500)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1FailInfinite();
Break(100,-20);
delay(200);
while(MoveDist(7, 30,0) == 1){} // DO WE NEED FAILSAFE HERE?
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 3000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1FailInfinite();
while(LineStatus() == 1 && LineStatusOffset() == 0) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;//WE REACHED THE CROSS(MIDDLE OF FIELD SET FLAG
}
if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;
Break(100,20);
StopDrive();
delay(300);
if(Launch) //IF LAUNCH FLAG WAS SATISFIED EARLIER THEN WE CAN LAUNCH BALLS
{
IntakePower(127); // SHOOT MID COURT
delay(3000);
}
stage = 1;
ShootingMode = 3;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1 && DistanceCalculator(0) < 55) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
IntakeOnAuto();
}
while(LineStatus() == 1 && DistanceCalculator(0) < 55)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
MoveTime(300,127);
StopDrive();
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(4000);
stage = 1;
///////////
KillALL();
while(1);
}
void CCar::Init()
{
CPHCollisionDamageReceiver::Init();
//get reference wheel radius
IKinematics* pKinematics=smart_cast<IKinematics*>(Visual());
CInifile* ini = pKinematics->LL_UserData();
R_ASSERT2(ini,"Car has no description !!! See ActorEditor Object - UserData");
///SWheel& ref_wheel=m_wheels_map.find(pKinematics->LL_BoneID(ini->r_string("car_definition","reference_wheel")))->second;
if(ini->section_exist("air_resistance"))
{
PPhysicsShell()->SetAirResistance(default_k_l*ini->r_float("air_resistance","linear_factor"),default_k_w*ini->r_float("air_resistance","angular_factor"));
}
if(ini->line_exist("car_definition","steer"))
{
m_bone_steer=pKinematics->LL_BoneID(ini->r_string("car_definition","steer"));
VERIFY2(fsimilar(DET(pKinematics->LL_GetTransform(m_bone_steer)),1.f,EPS_L),"BBADD MTX");
pKinematics->LL_GetBoneInstance(m_bone_steer).set_callback(bctPhysics,cb_Steer,this);
}
m_steer_angle=0.f;
//ref_wheel.Init();
m_ref_radius=ini->r_float("car_definition","reference_radius");//ref_wheel.radius;
b_exploded =false;
b_engine_on =false;
b_clutch =false;
b_starting =false;
b_stalling =false;
b_transmission_switching =false;
m_root_transform.set(bone_map.find(pKinematics->LL_GetBoneRoot())->second.element->mXFORM);
m_current_transmission_num=0;
m_pPhysicsShell->set_DynamicScales(1.f,1.f);
CDamagableItem::Init(GetfHealth(),3);
float l_time_to_explosion=READ_IF_EXISTS(ini,r_float,"car_definition","time_to_explosion",120.f);
CDelayedActionFuse::Initialize(l_time_to_explosion,CDamagableItem::DamageLevelToHealth(2));
{
xr_map<u16,SWheel>::iterator i,e;
i=m_wheels_map.begin();
e=m_wheels_map.end();
for(;i!=e;++i)
{
i->second.Init();
i->second.CDamagableHealthItem::Init(100.f,2);
}
}
{
xr_vector<SWheelDrive>::iterator i,e;
i=m_driving_wheels.begin();
e=m_driving_wheels.end();
for(;i!=e;++i)
i->Init();
}
{
xr_vector<SWheelBreak>::iterator i,e;
i=m_breaking_wheels.begin();
e=m_breaking_wheels.end();
for(;i!=e;++i)
i->Init();
}
{
xr_vector<SWheelSteer>::iterator i,e;
i=m_steering_wheels.begin();
e=m_steering_wheels.end();
for(;i!=e;++i)
i->Init();
}
{
xr_vector<SExhaust>::iterator i,e;
i=m_exhausts.begin();
e=m_exhausts.end();
for(;i!=e;++i)
i->Init();
}
{
xr_map<u16,SDoor>::iterator i,e;
i=m_doors.begin();
e=m_doors.end();
for(;i!=e;++i)
{
i->second.Init();
i->second.CDamagableHealthItem::Init(100,1);
}
}
if(ini->section_exist("damage_items"))
{
CInifile::Sect& data = ini->r_section("damage_items");
for (CInifile::SectCIt I=data.Data.begin(); I!=data.Data.end(); I++){
const CInifile::Item& item = *I;
u16 index = pKinematics->LL_BoneID(*item.first);
R_ASSERT3(index != BI_NONE, "Wrong bone name", *item.first);
xr_map <u16,SWheel>::iterator i=m_wheels_map.find(index);
if(i!=m_wheels_map.end())
i->second.CDamagableHealthItem::Init(float(atof(*item.second)),2);
else
{
xr_map <u16,SDoor>::iterator i=m_doors.find(index);
R_ASSERT3(i!=m_doors.end(),"only wheel and doors bones allowed for damage defs",*item.first);
i->second.CDamagableHealthItem::Init(float(atof(*item.second)),1);
}
}
}
if(ini->section_exist("immunities"))
{
LoadImmunities("immunities",ini);
}
CDamageManager::reload("car_definition","damage",ini);
HandBreak();
Transmission(1);
}
