void loop() {
unsigned long distance = sense_distance();
if (distance >= DISTANCE_THRESHOLD) {
go_forward();
} else {
go_backward();
turn_left();
}
}
void main()
{
setup_timer_2(T2_DIV_BY_16,255,1); //4.0 ms overflow, 4.0 ms interrupt
setup_ccp1(CCP_PWM);
setup_ccp2(CCP_PWM);
set_pwm1_duty((int16)200);
set_pwm2_duty((int16)200);
enable_interrupts(INT_SSP);
enable_interrupts(GLOBAL);
SET_TRIS_B(0);
stop();
//delay_ms(500);
while(TRUE)
{
if(hasCommand)
{
hasCommand= FALSE;
if(buffer[0] == 's'){
show();
}
else
switch(buffer[1])
{
case 1:
go_forward();
break;
case 2:
go_backward();
break;
case 3:
turn_right();
break;
case 4:
turn_left();
break;
case 5:
stop();
break;
default :
break;
}
}
}
}
gui::slider::slider(int p_x, int p_y, unsigned int p_length, int p_items, int p_space, orientation p_orientation) {
x = p_x;
y = p_y;
m_orientation = p_orientation;
width = (m_orientation == orientation::horizontal? p_length : 24);
height = (m_orientation == orientation::vertical? p_length : 24);
slider_box.setFillColor(colors::charcoal);
slider_box.setOutlineColor(colors::black);
slider_box.setOutlineThickness(1.0f);
items = p_items;
space = p_space;
if (m_orientation == orientation::horizontal) {
const sf::Texture& right_arrow = resource_cache::get_texture(resource_directory::get("slider_arrow_right"));
const sf::Texture& left_arrow = resource_cache::get_texture(resource_directory::get("slider_arrow_left"));
slider_pre_arrow = make_unique<texture_button>(left_arrow);
slider_pre_arrow = make_unique<texture_button>(left_arrow);
slider_post_arrow = make_unique<texture_button>(right_arrow);
slider_button = make_unique<generic_button>(0, 0, 0, 0, colors::matterhorn);
} else if (m_orientation == orientation::vertical) {
const sf::Texture& up_arrow = resource_cache::get_texture(resource_directory::get("slider_arrow_up"));
const sf::Texture& down_arrow = resource_cache::get_texture(resource_directory::get("slider_arrow_down"));
slider_pre_arrow = make_unique<texture_button>(up_arrow);
slider_post_arrow = make_unique<texture_button>(down_arrow);
slider_button = make_unique<generic_button>(0, 0, 0, 0, colors::matterhorn);
}
slider_pre_arrow->set_callback([this] { go_backward(); });
slider_post_arrow->set_callback([this] { go_forward(); });
minimum = 0;
maximum = items >= space? items - space : 0;
magnitude = 0;
update_dimensions();
}
void do_normalmode(struct block * buf) {
int bs = get_bufsize(buf);
struct ent * e;
switch (buf->value) {
// Movement commands
case 'j':
case OKEY_DOWN:
currow = forw_row(1)->row;
unselect_ranges();
update(TRUE);
break;
case 'k':
case OKEY_UP:
currow = back_row(1)->row;
unselect_ranges();
update(TRUE);
break;
case 'h':
case OKEY_LEFT:
curcol = back_col(1)->col;
unselect_ranges();
update(TRUE);
break;
case 'l':
case OKEY_RIGHT:
curcol = forw_col(1)->col;
unselect_ranges();
update(TRUE);
break;
case '0':
case OKEY_HOME:
curcol = left_limit()->col;
unselect_ranges();
update(TRUE);
break;
case '$':
case OKEY_END:
curcol = right_limit()->col;
unselect_ranges();
update(TRUE);
break;
case '^':
currow = goto_top()->row;
unselect_ranges();
update(TRUE);
break;
case '#':
currow = goto_bottom()->row;
unselect_ranges();
update(TRUE);
break;
// Tick
case '\'':
if (bs != 2) break;
unselect_ranges();
e = tick(buf->pnext->value);
if (row_hidden[e->row]) {
scerror("Cell row is hidden");
break;
}
if (col_hidden[e->col]) {
scerror("Cell column is hidden");
break;
}
currow = e->row;
curcol = e->col;
update(TRUE);
break;
// CTRL j
case ctl('j'):
{
int p, c = curcol, cf = curcol;
if ( (p = is_range_selected()) != -1) {
struct srange * sr = get_range_by_pos(p);
c = sr->tlcol;
cf = sr->brcol;
}
auto_justify(c, cf, DEFWIDTH); // auto justificado de columnas
update(TRUE);
break;
}
// CTRL d
case ctl('d'): // set date format using current locate D_FMT format
{
#ifdef USELOCALE
#include <locale.h>
#include <langinfo.h>
char * loc = NULL;
char * f = NULL;
loc = setlocale(LC_TIME, "");
if (loc != NULL) {
f = nl_langinfo(D_FMT);
} else {
scerror("No locale set. Nothing changed");
}
int p, r = currow, c = curcol, rf = currow, cf = curcol;
if ( (p = is_range_selected()) != -1) {
struct srange * sr = get_range_by_pos(p);
r = sr->tlrow;
c = sr->tlcol;
rf = sr->brrow;
cf = sr->brcol;
}
if (any_locked_cells(r, c, rf, cf)) {
scerror("Locked cells encountered. Nothing changed");
return;
}
dateformat(lookat(r, c), lookat(rf, cf), f);
update(TRUE);
break;
#else
scinfo("Build made without USELOCALE enabled");
#endif
}
// CTRL f
case ctl('f'):
case OKEY_PGDOWN:
{
int n = LINES - RESROW - 1;
if (atoi(get_conf_value("half_page_scroll"))) n = n / 2;
struct ent * e = forw_row(n);
currow = e->row;
unselect_ranges();
scroll_down(n);
update(TRUE);
break;
}
// CTRL b
case ctl('b'):
case OKEY_PGUP:
{
int n = LINES - RESROW - 1;
if (atoi(get_conf_value("half_page_scroll"))) n = n / 2;
currow = back_row(n)->row;
unselect_ranges();
scroll_up(n);
update(TRUE);
break;
}
case 'w':
e = go_forward();
currow = e->row;
curcol = e->col;
unselect_ranges();
update(TRUE);
break;
case 'b':
e = go_backward();
currow = e->row;
curcol = e->col;
unselect_ranges();
update(TRUE);
break;
case '/':
{
char cadena[] = ":int goto ";
int i;
for (i=0; i<strlen(cadena); i++) {
flush_buf(buf);
addto_buf(buf, cadena[i]);
exec_single_cmd(buf);
}
break;
}
case 'H':
currow = vert_top()->row;
unselect_ranges();
update(TRUE);
break;
case 'M':
currow = vert_middle()->row;
unselect_ranges();
update(TRUE);
break;
case 'L':
currow = vert_bottom()->row;
unselect_ranges();
update(TRUE);
break;
case 'G': // goto end
e = go_end();
currow = e->row;
curcol = e->col;
unselect_ranges();
update(TRUE);
break;
// GOTO goto
case ctl('a'):
e = go_home();
curcol = e->col;
currow = e->row;
unselect_ranges();
update(TRUE);
break;
case 'g':
if (buf->pnext->value == '0') { // g0
curcol = go_bol()->col;
} else if (buf->pnext->value == '$') { // g$
curcol = go_eol()->col;
} else if (buf->pnext->value == 'g') { // gg
e = go_home();
curcol = e->col;
currow = e->row;
} else if (buf->pnext->value == 'G') { // gG
e = go_end();
currow = e->row;
curcol = e->col;
} else if (buf->pnext->value == 'M') { // gM
curcol = horiz_middle()->col;
} else { // gA4 (goto cell)
(void) sprintf(interp_line, "goto %s", parse_cell_name(1, buf));
send_to_interp(interp_line);
}
unselect_ranges();
update(TRUE);
break;
// repeat last command
case '.':
copybuffer(lastcmd_buffer, buf); // nose graba en lastcmd_buffer!!
cmd_multiplier = 1;
exec_mult(buf, COMPLETECMDTIMEOUT);
break;
// enter command mode
case ':':
clr_header(input_win, 0);
chg_mode(':');
#ifdef HISTORY_FILE
add(commandline_history, "");
#endif
print_mode(input_win);
wrefresh(input_win);
handle_cursor();
inputline_pos = 0;
break;
// enter visual mode
case 'v':
chg_mode('v');
handle_cursor();
clr_header(input_win, 0);
print_mode(input_win);
wrefresh(input_win);
start_visualmode(currow, curcol, currow, curcol);
break;
// INPUT COMMANDS
case '=':
case '\\':
case '<':
case '>':
if (locked_cell(currow, curcol)) return;
insert_edit_submode = buf->value;
chg_mode(insert_edit_submode);
clr_header(input_win, 0);
print_mode(input_win);
wrefresh(input_win);
inputline_pos = 0;
break;
// EDITION COMMANDS
// edit cell (v)
case 'e':
if (locked_cell(currow, curcol)) return;
clr_header(input_win, 0);
inputline_pos = 0;
if (start_edit_mode(buf, 'v')) show_header(input_win);
break;
// edit cell (s)
case 'E':
if (locked_cell(currow, curcol)) return;
clr_header(input_win, 0);
inputline_pos = 0;
if (start_edit_mode(buf, 's')) show_header(input_win);
else {
scinfo("No string value to edit");
chg_mode('.');
show_celldetails(input_win);
print_mode(input_win);
wrefresh(input_win);
}
break;
// del current cell or range
case 'x':
del_selected_cells();
update(TRUE);
break;
// format col
case 'f':
if (bs != 2) return;
formatcol(buf->pnext->value);
break;
// mark cell or range
case 'm':
if (bs != 2) break;
int p = is_range_selected();
if (p != -1) { // mark range
struct srange * sr = get_range_by_pos(p);
set_range_mark(buf->pnext->value, sr);
} else // mark cell
set_cell_mark(buf->pnext->value, currow, curcol);
modflg++;
break;
// copy
case 'c':
{
if (bs != 2) break;
struct mark * m = get_mark(buf->pnext->value);
if ( m == NULL) return;
// if m represents a range
if ( m->row == -1 && m->col == -1) {
srange * r = m->rng;
yank_area(r->tlrow, r->tlcol, r->brrow, r->brcol, 'a', cmd_multiplier);
if (paste_yanked_ents(0, 'c') == -1) {
scerror("Locked cells encountered. Nothing changed");
break;
}
// if m represents just one cell
} else {
struct ent * p = *ATBL(tbl, get_mark(buf->pnext->value)->row, get_mark(buf->pnext->value)->col);
struct ent * n;
int c1;
#ifdef UNDO
create_undo_action();
#endif
for (c1 = curcol; cmd_multiplier-- && c1 < maxcols; c1++) {
if ((n = * ATBL(tbl, currow, c1))) {
if (n->flags & is_locked)
continue;
if (! p) {
clearent(n);
continue;
}
} else {
if (! p) break;
n = lookat(currow, c1);
}
#ifdef UNDO
copy_to_undostruct(currow, c1, currow, c1, 'd');
#endif
copyent(n, p, currow - get_mark(buf->pnext->value)->row, c1 - get_mark(buf->pnext->value)->col, 0, 0, maxrow, maxcol, 0);
n->row += currow - get_mark(buf->pnext->value)->row;
n->col += c1 - get_mark(buf->pnext->value)->col;
n->flags |= is_changed;
#ifdef UNDO
copy_to_undostruct(currow, c1, currow, c1, 'a');
#endif
}
#ifdef UNDO
end_undo_action();
#endif
}
if (atoi(get_conf_value("autocalc"))) EvalAll();
update(TRUE);
break;
}
// repeat last goto command
case 'n':
go_last();
update(TRUE);
break;
// range lock / unlock / valueize
case 'r':
{
int p, r = currow, c = curcol, rf = currow, cf = curcol;
if ( (p = is_range_selected()) != -1) {
struct srange * sr = get_range_by_pos(p);
r = sr->tlrow;
c = sr->tlcol;
rf = sr->brrow;
cf = sr->brcol;
}
if (buf->pnext->value == 'l') {
lock_cells(lookat(r, c), lookat(rf, cf));
} else if (buf->pnext->value == 'u') {
unlock_cells(lookat(r, c), lookat(rf, cf));
} else if (buf->pnext->value == 'v') {
valueize_area(r, c, rf, cf);
}
update(TRUE);
break;
}
// create range with two marks
case 'R':
if (bs == 3) {
create_range(buf->pnext->value, buf->pnext->pnext->value, NULL, NULL);
update(TRUE);
}
break;
// Zr Zc - Zap col or row - Show col or row - Sr Sc
case 'Z':
case 'S':
{
int rs, r = currow, c = curcol, arg = cmd_multiplier;
struct srange * sr;
if ( (rs = is_range_selected()) != -1) {
sr = get_range_by_pos(rs);
cmd_multiplier = 1;
r = sr->tlrow;
c = sr->tlcol;
arg = buf->pnext->value == 'r' ? sr->brrow - sr->tlrow + 1 : sr->brcol - sr->tlcol + 1;
}
if (buf->value == 'Z' && buf->pnext->value == 'r') {
hide_row(r, arg);
} else if (buf->value == 'Z' && buf->pnext->value == 'c') {
hide_col(c, arg);
} else if (buf->value == 'S' && buf->pnext->value == 'r') {
show_row(r, arg);
} else if (buf->value == 'S' && buf->pnext->value == 'c') {
show_col(c, arg);
}
cmd_multiplier = 0;
update(TRUE);
break;
}
// shift range or cell
case 's':
{
int p, r = currow, c = curcol, rf = currow, cf = curcol;
if ( (p = is_range_selected()) != -1) {
struct srange * sr = get_range_by_pos(p);
r = sr->tlrow;
c = sr->tlcol;
rf = sr->brrow;
cf = sr->brcol;
}
if ( any_locked_cells(r, c, rf, cf) && (buf->pnext->value == 'h' || buf->pnext->value == 'k') ) {
scerror("Locked cells encountered. Nothing changed");
return;
}
#ifdef UNDO
create_undo_action();
#endif
int ic = cmd_multiplier + 1;
switch (buf->pnext->value) {
case 'j':
fix_marks( (rf - r + 1) * cmd_multiplier, 0, r, maxrow, c, cf);
#ifdef UNDO
save_undo_range_shift(cmd_multiplier, 0, r, c, rf + (rf-r+1) * (cmd_multiplier - 1), cf);
#endif
while (ic--) shift_range(ic, 0, r, c, rf, cf);
break;
case 'k':
fix_marks( -(rf - r + 1) * cmd_multiplier, 0, r, maxrow, c, cf);
yank_area(r, c, rf + (rf-r+1) * (cmd_multiplier - 1), cf, 'a', cmd_multiplier); // keep ents in yanklist for sk
#ifdef UNDO
copy_to_undostruct(r, c, rf + (rf-r+1) * (cmd_multiplier - 1), cf, 'd');
save_undo_range_shift(-cmd_multiplier, 0, r, c, rf + (rf-r+1) * (cmd_multiplier - 1), cf);
#endif
while (ic--) shift_range(-ic, 0, r, c, rf, cf);
#ifdef UNDO
copy_to_undostruct(r, c, rf + (rf-r+1) * (cmd_multiplier - 1), cf, 'a');
#endif
break;
case 'h':
fix_marks(0, -(cf - c + 1) * cmd_multiplier, r, rf, c, maxcol);
yank_area(r, c, rf, cf + (cf-c+1) * (cmd_multiplier - 1), 'a', cmd_multiplier); // keep ents in yanklist for sk
#ifdef UNDO
copy_to_undostruct(r, c, rf, cf + (cf-c+1) * (cmd_multiplier - 1), 'd');
save_undo_range_shift(0, -cmd_multiplier, r, c, rf, cf + (cf-c+1) * (cmd_multiplier - 1));
#endif
while (ic--) shift_range(0, -ic, r, c, rf, cf);
#ifdef UNDO
copy_to_undostruct(r, c, rf, cf + (cf-c+1) * (cmd_multiplier - 1), 'a');
#endif
break;
case 'l':
fix_marks(0, (cf - c + 1) * cmd_multiplier, r, rf, c, maxcol);
#ifdef UNDO
save_undo_range_shift(0, cmd_multiplier, r, c, rf, cf + (cf-c+1) * (cmd_multiplier - 1));
#endif
while (ic--) shift_range(0, ic, r, c, rf, cf);
break;
}
#ifdef UNDO
end_undo_action();
#endif
cmd_multiplier = 0;
unselect_ranges();
update(TRUE);
break;
}
// delete row or column, or selected cell or range
case 'd':
{
if (bs != 2) return;
int ic = cmd_multiplier; // orig
if (buf->pnext->value == 'r') {
if (any_locked_cells(currow, 0, currow + cmd_multiplier, maxcol)) {
scerror("Locked cells encountered. Nothing changed");
return;
}
#ifdef UNDO
create_undo_action();
copy_to_undostruct(currow, 0, currow + ic - 1, maxcol, 'd');
save_undo_range_shift(-ic, 0, currow, 0, currow - 1 + ic, maxcol);
#endif
fix_marks(-ic, 0, currow + ic - 1, maxrow, 0, maxcol);
yank_area(currow, 0, currow - 1 + cmd_multiplier, maxcol, 'r', ic);
while (ic--) deleterow();
#ifdef UNDO
copy_to_undostruct(currow, 0, currow - 1 + cmd_multiplier, maxcol, 'a');
end_undo_action();
#endif
if (cmd_multiplier > 0) cmd_multiplier = 0;
} else if (buf->pnext->value == 'c') {
if (any_locked_cells(0, curcol, maxrow, curcol + cmd_multiplier)) {
scerror("Locked cells encountered. Nothing changed");
return;
}
#ifdef UNDO
create_undo_action();
copy_to_undostruct(0, curcol, maxrow, curcol - 1 + ic, 'd');
save_undo_range_shift(0, -ic, 0, curcol, maxrow, curcol - 1 + ic);
#endif
fix_marks(0, -ic, 0, maxrow, curcol - 1 + ic, maxcol);
yank_area(0, curcol, maxrow, curcol + cmd_multiplier - 1, 'c', ic);
while (ic--) deletecol();
#ifdef UNDO
copy_to_undostruct(0, curcol, maxrow, curcol + cmd_multiplier - 1, 'a');
end_undo_action();
#endif
if (cmd_multiplier > 0) cmd_multiplier = 0;
} else if (buf->pnext->value == 'd') {
del_selected_cells();
}
update(TRUE);
break;
}
// insert row or column
case 'i':
{
if (bs != 2) return;
#ifdef UNDO
create_undo_action();
#endif
if (buf->pnext->value == 'r') {
#ifdef UNDO
save_undo_range_shift(1, 0, currow, 0, currow, maxcol);
#endif
fix_marks(1, 0, currow, maxrow, 0, maxcol);
insert_row(0);
} else if (buf->pnext->value == 'c') {
#ifdef UNDO
save_undo_range_shift(0, 1, 0, curcol, maxrow, curcol);
#endif
fix_marks(0, 1, 0, maxrow, curcol, maxcol);
insert_col(0);
}
#ifdef UNDO
end_undo_action();
#endif
update(TRUE);
break;
}
case 'y':
// yank row
if ( bs == 2 && buf->pnext->value == 'r') {
yank_area(currow, 0, currow + cmd_multiplier - 1, maxcol, 'r', cmd_multiplier);
if (cmd_multiplier > 0) cmd_multiplier = 0;
// yank col
} else if ( bs == 2 && buf->pnext->value == 'c') {
yank_area(0, curcol, maxrow, curcol + cmd_multiplier - 1, 'c', cmd_multiplier);
if (cmd_multiplier > 0) cmd_multiplier = 0;
// yank cell
} else if ( bs == 2 && buf->pnext->value == 'y' && is_range_selected() == -1) {
yank_area(currow, curcol, currow, curcol, 'e', cmd_multiplier);
// yank range
} else if ( bs == 1 && is_range_selected() != -1) {
srange * r = get_selected_range();
yank_area(r->tlrow, r->tlcol, r->brrow, r->brcol, 'a', cmd_multiplier);
}
break;
// paste cell below or left
case 'p':
if (paste_yanked_ents(0, 'a') == -1) {
scerror("Locked cells encountered. Nothing changed");
break;
}
update(TRUE);
break;
case 'P':
case 'T':
if (bs != 2) break;
if (buf->pnext->value == 'v' || buf->pnext->value == 'f' || buf->pnext->value == 'c') {
int res = buf->value == 'P' ? paste_yanked_ents(0, buf->pnext->value) : paste_yanked_ents(1, buf->pnext->value); // paste cell above or right
if (res == -1) {
scerror("Locked cells encountered. Nothing changed");
break;
}
update(TRUE);
}
break;
// paste cell above or right
case 't':
if (paste_yanked_ents(1, 'a') == -1) {
scerror("Locked cells encountered. Nothing changed");
break;
}
update(TRUE);
break;
// select inner range - Vir
case 'V':
if (buf->value == 'V' && bs == 3 &&
buf->pnext->value == 'i' && buf->pnext->pnext->value == 'r') {
int tlrow = currow;
int brrow = currow;
int tlcol = curcol;
int brcol = curcol;
int * tlr = &tlrow;
int * brr = &brrow;
int * tlc = &tlcol;
int * brc = &brcol;
select_inner_range(tlr, tlc, brr, brc);
start_visualmode(*tlr, *tlc, *brr, *brc);
}
break;
// autojus
case 'a':
if ( bs != 2 ) break;
if (buf->pnext->value == 'a') {
int p, r = currow, c = curcol, rf = currow, cf = curcol;
if ( (p = is_range_selected()) != -1) {
struct srange * sr = get_range_by_pos(p);
r = sr->tlrow;
c = sr->tlcol;
rf = sr->brrow;
cf = sr->brcol;
}
if (any_locked_cells(r, c, rf, cf)) {
scerror("Locked cells encountered. Nothing changed");
return;
}
char cline [BUFFERSIZE];
sprintf(cline, "autojus %s:", coltoa(c));
sprintf(cline + strlen(cline), "%s", coltoa(cf));
send_to_interp(cline);
update(TRUE);
}
break;
// scroll
case 'z':
if ( bs != 2 ) break;
int scroll = 0;
switch (buf->pnext->value) {
case 'l':
scroll_right(1);
//unselect_ranges();
break;
case 'h':
scroll_left(1);
//unselect_ranges();
break;
case 'H':
scroll = calc_offscr_sc_cols();
if (atoi(get_conf_value("half_page_scroll"))) scroll /= 2;
scroll_left(scroll);
//unselect_ranges();
break;
case 'L':
scroll = calc_offscr_sc_cols();
if (atoi(get_conf_value("half_page_scroll"))) scroll /= 2;
scroll_right(scroll);
//unselect_ranges();
break;
case 'm':
;
int i = 0, c = 0, ancho = rescol;
offscr_sc_cols = 0;
for (i = 0; i < curcol; i++) {
for (c = i; c < curcol; c++) {
if (!col_hidden[c]) ancho += fwidth[c];
if (ancho >= (COLS - rescol)/ 2) {
ancho = rescol;
break;
}
}
if (c == curcol) break;
}
offscr_sc_cols = i;
break;
case 'z':
case '.':
case 't':
case 'b':
if (buf->pnext->value == 'z' || buf->pnext->value == '.')
scroll = currow - offscr_sc_rows + LINES - RESROW - 2 - (LINES - RESROW - 2)/2; // zz
else if (buf->pnext->value == 't')
scroll = currow - offscr_sc_rows + 1;
else if (buf->pnext->value == 'b')
scroll = currow - offscr_sc_rows - LINES + RESROW + 2;
if (scroll > 0)
scroll_down(scroll);
// else if (scroll > offscr_sc_rows)
// scroll_up(-scroll);
else if (scroll < 0)
scroll_up(-scroll);
// else if (offscr_sc_rows > 0)
// scroll_up(offscr_sc_rows);
break;
}
update(TRUE);
break;
// scroll up a line
case ctl('y'):
scroll_up(1);
update(TRUE);
break;
// scroll down a line
case ctl('e'):
scroll_down(1);
update(TRUE);
break;
// undo
case 'u':
#ifdef UNDO
do_undo();
// sync_refs();
EvalAll();
update(TRUE);
break;
#else
scerror("Build was done without UNDO support");
#endif
// redo
case ctl('r'):
#ifdef UNDO
do_redo();
// sync_refs();
EvalAll();
update(TRUE);
break;
#else
scerror("Build was done without UNDO support");
#endif
case '{': // left align
case '}': // right align
case '|': // center align
{
int p, r = currow, c = curcol, rf = currow, cf = curcol;
struct srange * sr;
if ( (p = is_range_selected()) != -1) {
sr = get_range_by_pos(p);
r = sr->tlrow;
c = sr->tlcol;
rf = sr->brrow;
cf = sr->brcol;
}
if (any_locked_cells(r, c, rf, cf)) {
scerror("Locked cells encountered. Nothing changed");
return;
}
#ifdef UNDO
create_undo_action();
#endif
if (buf->value == '{') sprintf(interp_line, "leftjustify %s", v_name(r, c));
else if (buf->value == '}') sprintf(interp_line, "rightjustify %s", v_name(r, c));
else if (buf->value == '|') sprintf(interp_line, "center %s", v_name(r, c));
if (p != -1) sprintf(interp_line + strlen(interp_line), ":%s", v_name(rf, cf));
#ifdef UNDO
copy_to_undostruct(r, c, rf, cf, 'd');
#endif
send_to_interp(interp_line);
#ifdef UNDO
copy_to_undostruct(r, c, rf, cf, 'a');
end_undo_action();
#endif
cmd_multiplier = 0;
update(TRUE);
break;
}
case ctl('l'):
/*
endwin();
start_screen();
clearok(stdscr, TRUE);
update(TRUE);
flushinp();
show_header(input_win);
show_celldetails(input_win);
wrefresh(input_win);
update(TRUE);
*/
winchg();
break;
case '@':
EvalAll();
update(TRUE);
break;
// increase or decrease numeric value of cell or range
case '-':
case '+':
{
int r, c, tlrow = currow, tlcol = curcol, brrow = currow, brcol = curcol;
if ( is_range_selected() != -1 ) {
struct srange * sr = get_selected_range();
tlrow = sr->tlrow;
tlcol = sr->tlcol;
brrow = sr->brrow;
brcol = sr->brcol;
}
if (any_locked_cells(tlrow, tlcol, brrow, brcol)) {
scerror("Locked cells encountered. Nothing changed");
return;
}
if (atoi(get_conf_value("numeric")) == 1) goto numeric;
struct ent * p;
#ifdef UNDO
create_undo_action();
#endif
int arg = cmd_multiplier;
int mf = modflg; // keep original modflg
for (r = tlrow; r <= brrow; r++) {
for (c = tlcol; c <= brcol; c++) {
p = *ATBL(tbl, r, c);
if ( ! p ) {
continue;
} else if (p->expr && !(p->flags & is_strexpr)) {
//scerror("Can't increment / decrement a formula");
continue;
} else if (p->flags & is_valid) {
#ifdef UNDO
copy_to_undostruct(r, c, r, c, 'd');
#endif
p->v += buf->value == '+' ? (double) arg : - 1 * (double) arg;
#ifdef UNDO
copy_to_undostruct(r, c, r, c, 'a');
#endif
if (mf == modflg) modflg++; // increase just one time
}
}
}
#ifdef UNDO
end_undo_action();
#endif
if (atoi(get_conf_value("autocalc"))) EvalAll();
cmd_multiplier = 0;
update(TRUE);
}
break;
// input of numbers
default:
numeric:
if ( (isdigit(buf->value) || buf->value == '-' || buf->value == '+') &&
atoi(get_conf_value("numeric")) ) {
insert_edit_submode='=';
chg_mode(insert_edit_submode);
inputline_pos = 0;
ins_in_line(buf->value);
show_header(input_win);
}
}
return;
}
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
}
}
}
