void GerberGenerator::drawPathOutline(
const Path& path, const UnsignedLength& lineWidth) noexcept {
if (path.getVertices().count() < 2) {
qWarning() << "Invalid path was ignored in gerber output!";
return;
}
setCurrentAperture(mApertureList->setCircle(lineWidth, UnsignedLength(0)));
moveToPosition(path.getVertices().first().getPos());
for (int i = 1; i < path.getVertices().count(); ++i) {
const Vertex& v = path.getVertices().at(i);
const Vertex& v0 = path.getVertices().at(i - 1);
if (v0.getAngle() == 0) {
// linear segment
linearInterpolateToPosition(v.getPos());
} else {
// arc segment
if (v0.getAngle().abs() <= Angle::deg90()) {
setMultiQuadrantArcModeOff();
} else {
setMultiQuadrantArcModeOn();
}
if (v0.getAngle() < 0) {
switchToCircularCwInterpolationModeG02();
} else {
switchToCircularCcwInterpolationModeG03();
}
Point center = Toolbox::arcCenter(v0.getPos(), v.getPos(), v0.getAngle());
circularInterpolateToPosition(v0.getPos(), center, v.getPos());
switchToLinearInterpolationModeG01();
}
}
}
void autonomousFcns(int Btn4, int startPos)
{
switch(Btn4)
{
case 256: //8U
servoCount = 0;
moveAtAngle(motor1, pot2, 15, 500, 3, startPos, 0.5, 0.25, 0.75, 0.5);
break;
case 1024: //8D
servoCount = 0;
moveToPosition(motor4, pot1, 2048, 80, 3, 1024, 512, 0.7, 0.3);
moveToPosition(motor1, pot2, 1024, 80, 3, 512, 256, 0.7, 0.3);
break;
}
}
void DragableCardFrame::mouseMoveEvent(QMouseEvent *event) {
if (!pressed)
return;
raise();
QPoint moveToPosition(event->pos() - dragPoint + pos());
this->move(normalizePosition(moveToPosition));
}
void WindowManager::moveToWorkspaceCenter(QWidget *window)
{
const QSize windowSizeHint = window->sizeHint();
const QRect workspaceGeometry = qApp->desktop()->availableGeometry(window);
int xPosition = (workspaceGeometry.width() - windowSizeHint.width()) / 2;
int yPosition = (workspaceGeometry.height() - windowSizeHint.height()) / 2;
moveToPosition(window, QPoint(xPosition, yPosition));
}
void Caret::moveToPrevBar()
{
const System &system = myLocation.getSystem();
const Barline *prevBar = system.getPreviousBarline(
myLocation.getPositionIndex());
if (prevBar)
prevBar = system.getPreviousBarline(prevBar->getPosition());
if (prevBar)
moveToPosition(prevBar->getPosition());
else if (myLocation.getSystemIndex() > 0)
{
// Move up by a system if we're at the start of our current system.
moveToSystem(myLocation.getSystemIndex() - 1, true);
// Move to the last barline if possible.
const System &newSystem = myLocation.getSystem();
const size_t count = newSystem.getBarlines().size();
if (count > 2)
moveToPosition(newSystem.getBarlines()[count - 2].getPosition());
}
}
void autonomousFcns(int Btn4, int startPos)
{
switch(Btn4)
{
case 256:
moveAtAngle(motor1, pot1, 15, 500, 3, startPos, 0.5, 0.25, 0.75, 0.5);
break;
case 1024:
moveToPosition(motor3, pot2, 30, 2048, 3, 1024, 512, 0.7, 0.35);
break;
}
}
void autonomousFcns(int Btn4)
{
switch(Btn4)
{
case 1024: //8D
servoCount = 0;
moveToPosition(motor1, pot2, 3500, 120, 3, 512, 256, 0.8, 0.5);
motor[servo1] = 60;
motor[servo2] = -60;
motor[servo3] = -127;
motor[servo4] = -127;
break;
}
}
void KNMusicDetailTooltip::showTooltip(const QPoint &position)
{
//Set the position.
moveToPosition(position);
//Show the tooltip box if it didn't display before.
if(!isVisible())
{
show();
}
//Reset the fade out counter.
resetCounter();
//Start the fade out counter.
m_fadeOutCounter->start();
}
void autonomousFcns(int Btn4)
{
switch(Btn4)
{
case 256:
moveAtAngle(motor1, pot1, 15, 500, 3, x, 0.5, 0.25, 0.75, 0.5);
break;
case 1024:
moveToPosition(motor3, pot2, 30, 2048, 3, 1024, 512, 0.7, 0.35);}
break;
default:
wait1Msec(3);
}
bool Caret::moveToNextBar()
{
const Barline *nextBar = myLocation.getSystem().getNextBarline(
myLocation.getPositionIndex());
if (!nextBar)
return false;
// Move into the next system if necessary.
if (*nextBar == myLocation.getSystem().getBarlines().back())
return moveToSystem(myLocation.getSystemIndex() + 1, true);
else
{
moveToPosition(nextBar->getPosition());
return true;
}
}
void Enemy1::moving()
{
if (currentGoal != currentSquare[FIRST_SQUARE_ID])
{
if (posX_ != destX || posY_ != destY)
{
moveToPosition(destX, destY);
if (posX_ == destX && posY_ == destY && !path.empty())
{
changeSquare(getLocationRow(path.back()), getLocationCol(path.back()));
Row_ = getLocationRow(currentSquare[FIRST_SQUARE_ID]);
Col_ = getLocationCol(currentSquare[FIRST_SQUARE_ID]);
}
}
else
{
findDestination();
}
}
}
void Dxl::moveToDegree(double degree, unsigned int device_id)
{
moveToPosition(degree / POSITION_TO_DEGREE, device_id);
}
void sbsRobSys::robotAccuracyTest(position pos[5],
char* filename, int noOfStep)
{
vector<double> temp[30];
position step;
moveToPosition(pos[0]);
moveJointTo(pos[0].joint_1, pos[0].joint_2, pos[0].joint_3, pos[0].joint_4, pos[0].joint_5, pos[0].joint_6);
for (int i = 0; i<4; i++)
{
step.joint_1 = (pos[i+1].joint_1-pos[i].joint_1)/noOfStep;
step.joint_2 = (pos[i+1].joint_2-pos[i].joint_2)/noOfStep;
step.joint_3 = (pos[i+1].joint_3-pos[i].joint_3)/noOfStep;
step.joint_4 = (pos[i+1].joint_4-pos[i].joint_4)/noOfStep;
step.joint_5 = (pos[i+1].joint_5-pos[i].joint_5)/noOfStep;
step.joint_6 = (pos[i+1].joint_6-pos[i].joint_6)/noOfStep;
for(int j = 0; j < noOfStep; j++)
{
updateJoint();
updateTCP();
temp[0].push_back(m_robot.m_joint[0]);
temp[1].push_back(m_robot.m_joint[1]);
temp[2].push_back(m_robot.m_joint[2]);
temp[3].push_back(m_robot.m_joint[3]);
temp[4].push_back(m_robot.m_joint[4]);
temp[5].push_back(m_robot.m_joint[5]);
temp[6].push_back(m_robot.m_tcp.o.x);
temp[7].push_back(m_robot.m_tcp.o.y);
temp[8].push_back(m_robot.m_tcp.o.z);
temp[9].push_back(m_robot.m_tcpEuler.x);
temp[10].push_back(m_robot.m_tcpEuler.y);
temp[11].push_back(m_robot.m_tcpEuler.z);
temp[12].push_back(step.joint_1);
temp[13].push_back(step.joint_2);
temp[14].push_back(step.joint_3);
temp[15].push_back(step.joint_4);
temp[16].push_back(step.joint_5);
temp[17].push_back(step.joint_6);
moveJointBy(step.joint_1, step.joint_2, step.joint_3, step.joint_4, step.joint_5, step.joint_6);
boost::this_thread::sleep(boost::posix_time::seconds(5));
updateJoint();
updateTCP();
temp[18].push_back(m_robot.m_joint[0]);
temp[19].push_back(m_robot.m_joint[1]);
temp[20].push_back(m_robot.m_joint[2]);
temp[21].push_back(m_robot.m_joint[3]);
temp[22].push_back(m_robot.m_joint[4]);
temp[23].push_back(m_robot.m_joint[5]);
temp[24].push_back(m_robot.m_tcp.o.x);
temp[25].push_back(m_robot.m_tcp.o.y);
temp[26].push_back(m_robot.m_tcp.o.z);
temp[27].push_back(m_robot.m_tcpEuler.x);
temp[28].push_back(m_robot.m_tcpEuler.y);
temp[29].push_back(m_robot.m_tcpEuler.z);
cout << i << " " << j << endl;
}
}
char* option;
FILE* processed = NULL;
option = "w";
processed = fopen(filename,option);
if (processed == NULL)
{
printf("Error: Opening file\n");
return;
}
for (unsigned int k = 0; k < temp[0].size(); k++)
{
for(int l = 0; l < 30; l++)
{
fprintf(processed, "%f,", temp[l][k]);
}
fprintf(processed, "\n");
}
fclose(processed);
}
void Motor::moveRelativePosition(const short& speed, const int& deltaPos)
{
moveToPosition(speed, Private::Motor::instance()->backEMF(m_port) + deltaPos);
}
void GerberGenerator::drawLine(const Point& start, const Point& end,
const UnsignedLength& width) noexcept {
setCurrentAperture(mApertureList->setCircle(width, UnsignedLength(0)));
moveToPosition(start);
linearInterpolateToPosition(end);
}
void Caret::moveToEndPosition()
{
moveToPosition(getLastPosition());
}
void Caret::moveToStartPosition()
{
moveToPosition(0);
}
void Motor::moveRelativePosition(short speed, int deltaPos)
{
moveToPosition(speed, Private::get_motor_bemf(m_port, nullptr) + deltaPos);
}
void Dxl::moveToRadian(double radian, unsigned int device_id)
{
moveToPosition(radian / POSITION_TO_RADIAN, device_id);
}
task main()
{
int x = SensorValue[pot1];
int y = SensorValue[pot2];
while(true)
{
//assign values to buttons to change value of BtnX
if (vexRT[Btn5U] == 1){
BtnX = BtnX + 1;}
if (vexRT[Btn5D] == 1){
BtnX = BtnX + 2;}
if (vexRT[Btn7U] == 1){
BtnX = BtnX + 4;}
if (vexRT[Btn7L] == 1){
BtnX = BtnX + 8;}
if (vexRT[Btn7D] == 1){
BtnX = BtnX + 16;}
if (vexRT[Btn7R] == 1){
BtnX = BtnX + 32;}
if (vexRT[Btn6U] == 1){
BtnX = BtnX + 64;}
if (vexRT[Btn6D] == 1){
BtnX = BtnX + 128;}
if (vexRT[Btn8U] == 1){
BtnX = BtnX + 256;}
if (vexRT[Btn8L] == 1){
BtnX = BtnX + 512;}
if (vexRT[Btn8D] == 1){
BtnX = BtnX + 1024;}
if (vexRT[Btn8R] == 1){
BtnX = BtnX + 2048;}
if ((vexRT[Btn7D] == 0)&&(vexRT[Btn7U] == 0)&&(vexRT[Btn7L] == 0)&&(vexRT[Btn7R] == 0)
&&(vexRT[Btn8D] == 0)&&(vexRT[Btn8U] == 0)&&(vexRT[Btn8L] == 0)&&(vexRT[Btn8R] == 0)
&&(vexRT[Btn5U] == 0)&&(vexRT[Btn5D] == 0)&&(vexRT[Btn6U] == 0)&&(vexRT[Btn6D] == 0)){
BtnX = 0;}
twoServos (servo1, servo2, BtnX);
clawOpenCloseCenter (servo1, servo2, servo3, servo4, BtnX);
//joystick ch1 controls servo
if((vexRT[Ch1] <= -40) && (vexRT[Ch1] > -80))
{
stepServo(servo1, -1);
}
else if((vexRT[Ch1] <= -80) && (vexRT[Ch1] > -110))
{
stepServo(servo1, -2);
}
else if(vexRT[Ch1] <= -110)
{
stepServo(servo1, -3);
}
if((vexRT[Ch1] >= 40) && (vexRT[Ch1] < 80))
{
stepServo(servo1, 1);
}
else if((vexRT[Ch1] >= 80) && (vexRT[Ch1] < 110))
{
stepServo(servo1, 2);
}
else if(vexRT[Ch1] >= 110)
{
stepServo(servo1, 3);
}
motor[motor3] = vexRT[Ch2];
limMotor(motor1, lim1, 0);
moveAtAngle(motor1, pot1, 15, 500, 3, x, 0.5, 0.25, 0.75, 0.5);
moveToPosition(motor2, pot2, 30, 2048, 3, 1024, 512, 0.7, 0.35);
}
}
uint8_t NMX::gotoEnd()
{
return moveToPosition(endPos);
}
void InterlinearChunkEditor::moveToLine(int line)
{
line--; // zero-index it
moveToPosition( (line / mChunkSize) * mChunkSize );
}
void InterlinearChunkEditor::previous()
{
moveToPosition( mPosition - mChunkSize );
}
void InterlinearChunkEditor::next()
{
moveToPosition( mPosition + mChunkSize );
}
uint8_t NMX::gotoStart()
{
return moveToPosition(0);
}
void Caret::moveHorizontal(int offset)
{
moveToPosition(myLocation.getPositionIndex() + offset);
}
void Walker::nextMove(int currentSeq)
{
int startSeq = currentSeq;
//int targetSeq = 0;
int prevSeq = mCurrentSeq;
vector<CCPoint> path;
vector<int> seqs;
float spd = 40;
if (m_icon == "b020")
{
spd = 50;
}
auto iter = mPointsInPathGraph.find(startSeq);
setSoldierPosition(iter->second.point);
for(int i = 0; i < 2; i++)
{
iter = mPointsInPathGraph.find(startSeq);
if(iter != mPointsInPathGraph.end())
{
path.push_back(iter->second.point);
seqs.push_back(startSeq);
int availableTargetNum = iter->second.connectedPointSeqs.size();
int randomTargetIndex = 0;
if (availableTargetNum > 1)
{
randomTargetIndex = rand() % (availableTargetNum);
//if(iter->second.connectedPointSeqs[randomTargetIndex] == mCurrentSeq)
if(iter->second.connectedPointSeqs[randomTargetIndex] == prevSeq)
{
if (randomTargetIndex == 0)
{
randomTargetIndex = randomTargetIndex + 1;
}
else if(randomTargetIndex == (availableTargetNum -1))
{
randomTargetIndex = randomTargetIndex - 1;
}
else
{
int secondRandom = rand() % (2);
if(secondRandom == 0)
randomTargetIndex = randomTargetIndex - 1;
else
randomTargetIndex = randomTargetIndex + 1;
}
}
}
prevSeq = startSeq;
startSeq = iter->second.connectedPointSeqs[randomTargetIndex];
}
}
//moveToPosition(currentSeq, prevSeq, path, 0, spd);
moveToPosition(seqs, path, 0, spd);
}
/********************************************************************
* Function: void ProcessIO(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This function is a place holder for other user
* routines. It is a mixture of both USB and
* non-USB tasks.
*
* Note: None
*******************************************************************/
void ProcessIO(void)
{
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
//Check if we have received an OUT data packet from the host
if(!HIDRxHandleBusy(USBOutHandle))
{
//We just received a packet of data from the USB host.
//Check the first byte of the packet to see what command the host
//application software wants us to fulfill.
switch (ReceivedDataBuffer[0]) {
case 0x01: // System Commands
switch (ReceivedDataBuffer[1]) {
case 0x01: // System Commands
// Copy any waiting debug text to the send data buffer
ToSendDataBuffer[0] = 0xFF;
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
default: // Unknown command received
break;
}
break;
case 0x02: // Feeder Commands
switch (ReceivedDataBuffer[1]) {
case 0x02: // Feeder Status
if (FeederStatus() == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x03: // Go to feeder
if ((ReceivedDataBuffer[2] >= 0) && (ReceivedDataBuffer[2] <= 16)){
moveToPosition(ReceivedDataBuffer[2]);
}
break;
case 0x04: // Picker Up
PickerUp();
break;
case 0x05: // Zero Feeder
ZeroFeeder();
break;
case 0x06: // Picker Down
PickerDown();
break;
case 0x07: // Set Picker Port Output
pickerBusval = ((ReceivedDataBuffer[3] << 8) | ReceivedDataBuffer[2]);
pickerBus = pickerBusval;
break;
case 0x08: // Go to feeder
if ((ReceivedDataBuffer[2] > 0) && (ReceivedDataBuffer[2] <= 16)){
moveToPositionWithoutPick(ReceivedDataBuffer[2]);
}
break;
default: // Unknown command received
break;
}
break;
case 0x03: // Vacuum and Vibration Commands
switch (ReceivedDataBuffer[1]) {
case 0x01: // Vacuum 1 set
if (ReceivedDataBuffer[2] == 0x01){
setVac1on;
}
else{
setVac1off;
}
break;
case 0x02: // Vacuum 2 set
if (ReceivedDataBuffer[2] == 0x01){
setVac2on;
}
else{
setVac2off;
}
break;
case 0x03: // Vibration Motor set
if (ReceivedDataBuffer[2] == 0x01){
SetDCOC1PWM(vibrationmotor_duty_cycle);
vibrationrunning = 1;
}
else{
SetDCOC1PWM(0);
vibrationrunning = 0;
}
break;
case 0x04: // Vacuum 1 status
if (vac1running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x05: // Vacuum 2 status
if (vac2running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x06: // Vibration Motor status
if (vibrationrunning == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x07: // Vibration Motor status
vibrationmotor_duty_cycle = ReceivedDataBuffer[2] * 4;
if (vibrationrunning == 1){
SetDCOC1PWM(vibrationmotor_duty_cycle);
}
break;
default: // Unknown command received
break;
}
break;
case 0x04: // LED Commands
switch (ReceivedDataBuffer[1]) {
case 0x01: // LED Base Camera on/off
if (ReceivedDataBuffer[2] == 0x01){
SetDCOC2PWM(led1_duty_cycle);
led1running = 1;
}else{
SetDCOC2PWM(0);
led1running = 0;
}
break;
case 0x02: // LED Base Camera PWM set
led1_duty_cycle = ReceivedDataBuffer[2] * 4;
if (led1running == 1){
SetDCOC2PWM(led1_duty_cycle);
}
break;
case 0x03: // LED Head Camera on/off
if (ReceivedDataBuffer[2] == 0x01){
SetDCOC3PWM(led2_duty_cycle);
led2running = 1;
}else{
SetDCOC3PWM(0);
led2running = 0;
}
break;
case 0x04: // LED Head Camera PWM set
led2_duty_cycle = ReceivedDataBuffer[2] * 4;
if (led2running == 1){
SetDCOC3PWM(led2_duty_cycle);
}
break;
case 0x05: // LED Base Status
if (led1running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x06: // LED Head Status
if (led2running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
default: // Unknown command received
break;
}
break;
default: // Unknown command received
break;
}
//Re-arm the OUT endpoint, so we can receive the next OUT data packet
//that the host may try to send us.
USBOutHandle = HIDRxPacket(HID_EP, (BYTE*)&ReceivedDataBuffer, 64);
}
}//end ProcessIO
