bool ElasticItem::checkCollision(MoveableItem *item)
{
if (opacity() == 0)
return false;
QPoint ballCenter = item->centerPoint();
QPoint mappedCenter = mapFromItem(item->parentItem(), ballCenter).toPoint();
ballCenter = mappedCenter;
if (topSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedY(-fabs(item->speedY()));
return true;
}
if (bottomSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedY(fabs(item->speedY()));
return true;
}
if (leftSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedX(-fabs(item->speedX()));
return true;
}
if (rightSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedX(fabs(item->speedX()));
return true;
}
if (topLeftSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedX(-fabs(item->speedX()));
item->setSpeedY(-fabs(item->speedY()));
return true;
}
if (topRightSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedX(fabs(item->speedX()));
item->setSpeedY(-fabs(item->speedY()));
return true;
}
if (bottomLeftSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedX(-fabs(item->speedX()));
item->setSpeedY(fabs(item->speedY()));
return true;
}
if (bottomRightSensor(item->width()/2).contains(ballCenter, true)) {
item->setSpeedX(fabs(item->speedX()));
item->setSpeedY(fabs(item->speedY()));
return true;
}
return false;
}
int main(void)
{
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
ADC10CTL0 = ADC10SHT_3 + ADC10ON + ADC10IE; // ADC10ON, interrupt enabled
ADC10CTL1 = ADC10DIV_7;
ADC10CTL1 |= ADC10SSEL1|ADC10SSEL0; // Select SMCLK
P1DIR |= BIT0; // Set P1.0 to output direction
P1DIR |= BIT6;
for (;;){
leftSensor();
if (ADC10MEM < 0x180)
P1OUT &= BIT0; // Clear P1.0 LED off
else
P1OUT |= BIT0; // Set P1.0 LED on
_delay_cycles(1000);
rightSensor();
if (ADC10MEM < 0x180)
P1OUT &= BIT6;
else
P1OUT |= BIT6;
_delay_cycles(1000);
centerSensor();
if (ADC10MEM < 0x150)
P1OUT &= BIT0;
else
P1OUT |= BIT0;
}
return 0;
}
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
BCSCTL1 = CALBC1_8MHZ; // 8MHz clock
DCOCTL = CALDCO_8MHZ;
P2DIR |= BIT2; // P2.2 is associated with TACCTL1
P2SEL |= BIT2;
P2DIR |= BIT4; // P2.4 is associated with TACCTL2
P2SEL |= BIT4;
TA1CTL = ID_3 | TASSEL_2 | MC_1; //set duty cycle and MCLK
TA1CCR0 = 100;
TA1CCR1 = 50;
TA1CCTL1 = OUTMOD_7; // set TACCTL1 to Reset / Set mode
TA1CCR2 = 50; // set TACCTL2 to Set / Reset mode
TA1CCTL2 = OUTMOD_3;
ADC10CTL0 = ADC10SHT_3 + ADC10ON + ADC10IE; // ADC10ON, interrupt enabled
ADC10CTL1 = ADC10DIV_7;
ADC10CTL1 |= ADC10SSEL1|ADC10SSEL0; // Select SMCLK
for (;;){
stopMovement();
_delay_cycles(110000);
if(leftSensor() < 0x190) // two if statements to stay close to left wall
{
turnLeftLittle();
_delay_cycles(9000);
stopMovement();
_delay_cycles(100000);
}
if(leftSensor() >= 0x170)
{
turnRightLittle();
_delay_cycles(9000);
stopMovement();
_delay_cycles(100000);
}
if (centerSensor() >=0x170 && leftSensor() >= 0x165) // statement to turn right if both left and center sensors triggered
{
turnRightBig();
_delay_cycles(7500);
stopMovement();
_delay_cycles(100000);
}
if (centerSensor() < 0x170 && leftSensor() >= 0x170) // has robot move forward when neither sensors are triggered
{
moveForward();
_delay_cycles(100000);
}
else if (centerSensor() < 0x190)
{
moveForward();
_delay_cycles(100000);
}
}
return 0;
}
