// script to move with individual motor control
// dist mm with r_speed mm/sec on right wheel and l_speed on left
void create_script_move_direct(int dist, int r_speed, int l_speed) {
int sdist, ddist;
create_drive_direct(r_speed, l_speed);
create_distance();
sdist=gc_distance;
ddist=sdist+dist;
if(dist>0)
while(gc_distance<ddist)create_distance();
else
while(gc_distance>ddist)create_distance();
create_stop();
}
// script to move dist mm at speed mm/sec
void create_script_move(int dist, int speed) {
int sdist, ddist;
create_drive_straight(speed);
create_distance();
sdist=gc_distance;
ddist=sdist+dist;
if(dist>0)
while(gc_distance<ddist)create_distance();
else
while(gc_distance>ddist)create_distance();
create_stop();
}
/*
* Class: cbccore_low_Create
* Method: create_distance
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Create_create_1distance(JNIEnv *env, jobject obj)
{
#ifdef CBC
return create_distance();
#else
printf("Java_cbccore_low_Create_create_1distance stub\n");
return -1;
#endif
}
//this function will update the values for many of the sensor globals above
//serial connection failure codes are
// -1:create_mode, -2:create_wall, -3:create_buttons, -4:create_bumpdrop, -5:create_cliffs,
// -6:create_angle, -7:create_distance, -8:create_velocity, -9:create_read_IR
int create_sensor_update()
{
int r=0; // if serial connection times out, bit positions give the functions where it occurred
r=r-2*create_wall();
r=r-4*create_buttons();
r=r-8*create_bumpdrop();
r=r-16*create_cliffs();
r=r-32*create_angle();
r=r-64*create_distance();
r=r-128*create_velocity();
return(r);
}
