void serve_short(short start)
{
short task = 0;
if(task == 0){
#if MOTOR_MODE == MOTOR_SINGLE
Move_motor_number(20, RIGHT_ARM1);
#elif MOTOR_MODE == MOTOR_DOUBLE
Move_motor_number(20, RIGHT_ARM1);
Move_motor_number(-20, RIGHT_ARM2);
#endif
}else if(task == 1){
Set_GPIO_output(AIR1, HIGH);
}else if(task == 2){
#if MOTOR_MODE == MOTOR_SINGLE
Move_motor_number(-20, RIGHT_ARM1);
#elif MOTOR_MODE == MOTOR_DOUBLE
Move_motor_number(-20, RIGHT_ARM1);
Move_motor_number(20, RIGHT_ARM1);
#endif
}else if(task ==3){
if(start != ON){
reset_count_time(4);
}
if(count_time(4) >= SERVE_TIME){
task = 4;
}
}else if(task == 4){
Set_GPIO_output(AIR1, LOW);
task = 0;
}
}
/* Fill info structure with data from the id3 tag */
static void mp3_info (const char *file_name, struct file_tags *info,
const int tags_sel)
{
if (tags_sel & TAGS_COMMENTS) {
struct id3_tag *tag;
struct id3_file *id3file;
char *track = NULL;
id3file = id3_file_open (file_name, ID3_FILE_MODE_READONLY);
if (!id3file)
return;
tag = id3_file_tag (id3file);
if (tag) {
info->artist = get_tag (tag, ID3_FRAME_ARTIST);
info->title = get_tag (tag, ID3_FRAME_TITLE);
info->album = get_tag (tag, ID3_FRAME_ALBUM);
track = get_tag (tag, ID3_FRAME_TRACK);
if (track) {
char *end;
info->track = strtol (track, &end, 10);
if (end == track)
info->track = -1;
free (track);
}
}
id3_file_close (id3file);
}
if (tags_sel & TAGS_TIME)
info->time = count_time (file_name);
}
/* Fill info structure with data from spx comments */
static void spx_info (const char *file_name, struct file_tags *tags,
const int tags_sel)
{
struct io_stream *s;
s = io_open (file_name, 0);
if (io_ok(s)) {
struct spx_data *data = spx_open_internal (s);
if (data->ok) {
if (tags_sel & TAGS_COMMENTS)
get_comments (data, tags);
if (tags_sel & TAGS_TIME)
tags->time = count_time (data);
}
spx_close (data);
}
}
void debug(void)
{
robot_information_t robot;
target_cam_t target_cam;
unsigned char str[10] = "\0";
unsigned short old_sw = 0,
start_sw =0,
old_limit_sw = 0;
float target_degree = 0.00;
transmit_usb("[ r : reset] \n\r");
transmit_usb("[ 1 : encoder]\n\r");
transmit_usb("[ 2 : AD]\n\r");
transmit_usb("[ 3 : coordinate]\n\r");
transmit_usb("[ 4 : sonic_waves]\n\r");
transmit_usb("[ 5 : encoder reset]\n\r");
transmit_usb("[ 6 : cam_inf]\n\r");
transmit_usb("[ 7 : target_cam]\n\r");
transmit_usb("[ 8 : inf&target]\n\r");
transmit_usb("[ 9 : start_switch]\n\r");
transmit_usb("[10 : limit_switch]\n\r");
transmit_usb("[11 : motor]\n\r");
transmit_usb("[12 : reverse motor]\n\r");
transmit_usb("[13 : stop motor]\n\r");
transmit_usb("[14 : arm motor]\n\r");
transmit_usb("[15 : reverse arm motor]\n\r");
//transmit_usb("[p : p gain adjustment]\n\r");
//transmit_usb("[d : d gain adjustment]\n\r");
GPIO_ResetBits(ENC_RESET);
while(strcmp(str, "r") != 0){
if(usb_available() != 0){
usb_get_string(str);
}
buzzer_stop();
//sonic_waves(&robot);
if(count_time(3) >= INTERRUPT_TIME){
reset_count_time(3);
get_robot_inf( &robot );
cam_data(&target_cam, &robot);
start_sw =positive_chattering(START_SW,1);
robot.sw.limit_sw = negative_chattering(LIMIT_SW,2);
robot.ad = get_ADC1_value(0);
}
if(strcmp(str, "1") == 0){
f_print(PC,"ENCL",robot.enc_cnt.l);
f_print(PC,"ENCR",robot.enc_cnt.r);
f_print(PC,"ENCF",robot.enc_cnt.f);
put_enter(PC);
}else if(strcmp(str, "2") == 0){
f_print(PC,"AD",robot.ad);
put_enter(PC);
}else if(strcmp(str, "3") == 0){
f2_print(PC,"now_coord",robot.coord.c_x, robot.coord.c_y);
f_print(PC,"deg",robot.angle.degree);
put_enter(PC);
}else if(strcmp(str, "4") == 0){
f_print(PC,"time",count_time(2));
f_print(PC,"dis",robot.waves);
put_enter(PC);
}else if(strcmp(str, "5") == 0){
GPIO_SetBits(ENC_RESET);
//str[0] = 'r';
}else if(strcmp(str, "6") == 0){
f2_print(PC, "under", target_cam.under_x, target_cam.under_y );
f2_print(PC, "over", target_cam.over_x, target_cam.over_y );
put_enter(PC);
}else if(strcmp(str, "7") == 0){
f2_print(PC, "target_cam", (target_cam.x) * cos(D_TO_R(robot.angle.degree))+robot.coord.c_x, (target_cam.y)*sin(D_TO_R(robot.angle.degree))+robot.coord.c_y);
put_enter(PC);
}else if(strcmp(str, "8") == 0){
f2_print(PC, "under", target_cam.under_x, target_cam.under_y);
f2_print(PC, "over", target_cam.over_x, target_cam.over_y );
target_degree = get_target_degree(ROBO_TO_CENTER - robot.coord.c_x, robot.coord.c_y);
f2_print(PC, "target_cam", (target_cam.x) * cos(D_TO_R(target_degree)) + robot.coord.c_x, (target_cam.y) * sin(D_TO_R(target_degree)) + robot.coord.c_y);
put_enter(PC);
}else if(strcmp(str, "9") == 0){
if(robot.sw.start_sw != old_sw ){
f_print(PC,"sw",start_sw);
put_enter(PC);
}
}else if(strcmp(str, "10") == 0){
if(robot.sw.limit_sw != old_limit_sw ){
f_print(PC,"limit_sw",robot.sw.limit_sw);
put_enter(PC);
}
}else if(strcmp(str, "11") == 0){
move(50, 50, 50);
}else if(strcmp(str, "12") == 0){
move(-50, -50, -50);
}else if(strcmp(str, "13") == 0){
move(0, 0, 0);
move_arm(0);
}else if(strcmp(str, "14") == 0){
move_arm(100);
}else if(strcmp(str, "15") == 0){
move_arm(-100);
}
old_limit_sw = robot.sw.start_sw;
old_sw = start_sw;
}
}
void Render_Gioco(void){
float tmp;
pointer_pos=cursor_position();
glutSetCursor(GLUT_CURSOR_NONE);
glDisable(GL_FOG);
drawSkybox();
drawGun();
drawBullet();
drawScore();
glPushMatrix();
gluLookAt(0.f,0.f,3.f,0.f,0.f,-5.f,0.f,1.f,0.f);
tmp = 0.0536414;
glScalef(tmp, tmp, tmp);
glTranslated(-xpos,0.0f,0.0f);
//SPOSTAMENTO DELLA CAMERA:
float xx=9,yy=0,zz=42;
glTranslatef(xx,yy,zz);
glRotatef(main_camera.getLocRot().y_rot,0.0f,1.0f,0.0f);
glTranslatef(-xx,-yy,-zz);
//translo la camera (in realta' translo tutto il resto)
glTranslatef(main_camera.getLocRot().x, main_camera.getLocRot().y, main_camera.getLocRot().z);
//Fog----------------------
glFogi(GL_FOG_MODE, GL_LINEAR); // Fog Mode
GLfloat fogColor[4]= {0.6f, 0.5f, 0.3f, 1.0f};
glFogfv(GL_FOG_COLOR, fogColor); // Set Fog Color
glFogf(GL_FOG_DENSITY, 0.45f); // How Dense Will The Fog Be
glHint(GL_FOG_HINT, GL_DONT_CARE); // Fog Hint Value
glFogf(GL_FOG_START, 3.5f); // Fog Start Depth
glFogf(GL_FOG_END, 6.0f); // Fog End Depth
glEnable(GL_FOG); // Enables GL_FOG
//-------------------------
if(first == TRUE){
scene_list_case=glGenLists(4);
scene_list_target=glGenLists(10);
lista_case(scene_list_case,level1_scene.scene,level2_scene.scene,level3_scene.scene,terreno_scene.scene);
lista_target(scene_list_target,target_scene.scene);
pos=scegli_pos(livello,livelli);
first = FALSE;
}
if(m[pos].stato==2){
m[pos]=reset_motion(m[pos]);
pos=scegli_pos(livello,livelli);
}
ch=render_target(livello,scene_list_target,pos,livelli,m[pos],ch,t.v);
render_case(livello,scene_list_case);
if(!pause)t=count_time(t);
m[pos]=scegli_mov(m[pos],livelli,pos,t.tempoi, t.v, ch_index,ch);
glPopMatrix();
drawPointer(pointer_pos);
if(pause) DrawMenu(0,0,menuArray[5],true);
}
