/*Ici les fantomes accélèrent de plus en plus
* et le but est de tenir le plus longtemps
* sans se faire dévorer*/
void survivor(int level, config *cfg)
{
if(level>=NB_LEVEL) return;
int selection, counter=SDL_GetTicks(), tmp=counter, elapsed;
SAVE_ENABLE=0;
play_menu(level);
Pacman pac;
Fantome ftm[NB_MAX_GHOSTS];
score_message *msg_list = NULL;
Input in;
init_pacman(&pac, cfg);
init_level();
init_blocks();
load_level(level);
pac_restart(&pac);
pac.nb_lives=1;
init_ghosts(ftm, cfg);
memset(&in,0,sizeof(in));
DELAY = 40;
while(pac.nb_lives && POINTS)
{
elapsed = SDL_GetTicks()-tmp;
if(elapsed > 10000)
{
//On accélere les fantomes
speed_up(ftm, 1);
tmp=SDL_GetTicks();
}
UpdateEvents(&in);
if(in.quit) //Si clique sur croix
{
delete(&pac, ftm);
exit(EXIT_SUCCESS);
}
while(in.key[SDLK_ESCAPE])
{
selection=game_menu();
if(selection==0) in.key[SDLK_ESCAPE]=0;
else if(selection==2) //Retour menu principal
{
delete(&pac, ftm);
return;
}
}
jouer(&pac, ftm, in, cfg, level, &msg_list);
}
counter = SDL_GetTicks() - counter;
fprintf(stderr, "Wouaw tu as tenu %d ms!\n", counter);
if(pacmanIsHuman(cfg)) draw_result("data/survivor.txt", counter);
delete(&pac, ftm);
}
////////////////////////////////////////////////
//BOT CONTROL
void bot_control(void)
{
//S0
if(SH_LEFT>=125 && SH_LEFT<=140)
{
S4_t=0; //for S4
CURR_S=S0;
if(!S3_t) set_servo(CENTER);
if(SH_CENTER<70 && SH_CENTER>=55) {speed_down(4);goto f_exit;}
else if(SH_CENTER>=70) {S3_t=1;speed_down(4);set_servo(MAX_RIGHT);goto f_exit;}
else if(SH_CENTER<55) {S3_t=0;speed_up(5);goto f_exit;}
}
//S1
else if(SH_LEFT>140 && SH_LEFT<=240)
{
S4_t=0; //for S4
CURR_S=S1;
//-------------------
if(SH_CENTER>=70)
{
S3_t=1; //for S3
speed_down(4);
set_servo(MAX_RIGHT);
goto f_exit;
}
else
{
S3_t=0;
set_servo(MIN_RIGHT);
speed_down(2);
}
//-------------------
goto f_exit;
}
//S2
else if(SH_LEFT>240 || S3_t)
{
S4_t=0; //for S4
CURR_S=S2;
//-------------------
set_servo(MAX_RIGHT);
speed_down(5);
//-------------------
goto f_exit;
}
//S3
else if(SH_LEFT<125 && SH_LEFT>=100 && !S3_t)
{
S4_t=0; //for S4
CURR_S=S3;
//-------------------
set_servo(MIN_LEFT);
speed_down(3);
//-------------------
goto f_exit;
}
//S4
else if(SH_LEFT<100)
{
S3_t=0;
//-------------------
switch(S4_t)
{
case 0:
{
S4_t=1;
CURR_S=S40;
speed_down(3);
set_servo(MIN_LEFT);
delay_ms(10);
break;
};
case 1:
{
CURR_S=S41;
speed_down(1);
set_servo(MAX_LEFT);
break;
};
};
//-------------------
goto f_exit;
}
f_exit:
#asm
nop
#endasm
};
void
on_button8_clicked (GtkButton *button,
gpointer user_data)
{
speed_up();
}
int main(void)
{
// open the Character LCD port
char_lcd_dev = alt_up_character_lcd_open_dev ("/dev/LCD");
/* Initialize the character display */
alt_up_character_lcd_init(char_lcd_dev);
// Initially writes the start time of timer to lcd
write_time_to_buffer(top_row, seconds, minutes, hours, am_pm_mode);
hex_write_date(month, day, year);
// Initialize the switches
int * sw_ptr = (int *) SW_BASE;
int sw_values;
int oldvalue = 0x00000000;
// Masks for individual switches
int MASK_17 = 0x00020000;
int MASK_16 = 0x00010000;
int MASK_1 = 0x00000002;
int MASK_0 = 0x00000001;
int is_fast = 0; //use to tell other function if sped up, 0 = slow, 1 = fast
int clk_modify = 0; //if 0, clock isn't being changed, if 1 clock is being changed
int alarm_modify = 0; //if 0 alarm isn't being changed, if 1, alarm is being changed
// Initialize the Timers
init_timer_0(&tenths);
// Tracker to see when the time changes
int old_tenths = 0;
// Initialize the KEY port
init_button_pio();
// continually
while(1) {
// check the state of the context integer updated by various ISR functions
// Act accordingly, which means
// Update the switch_values
sw_values = *(sw_ptr);
//check if sw17 is up and if it is, then speed up the timer
if((sw_values & MASK_17) == 0x00020000 && oldvalue == 0x00000000){
speed_up();
oldvalue = sw_values & MASK_17;
is_fast = 1;
}
//check if sw17 is down and if it is then slow down the timer
else if ((sw_values & MASK_17) == 0x00000000 && oldvalue == 0x00020000) {
slow_down();
oldvalue = sw_values & MASK_17;
is_fast = 0;
}
// Allow user to change the time if SW0 is up
if((sw_values & MASK_0) == 0x00000001){
clk_modify = 1;
}
else{
clk_modify = 0;
}
// Buttons increment the hours, minutes, and seconds, respectively to Key3, Key2, and Key1
if(clk_modify == 1 && alarm_modify == 0 && alarm == 0){
// Handle if a key was pressed
if (edge_capture) {
handle_key_press_time();
}
}
// Allow user to change the alarm if SW1 is up
if((sw_values & MASK_1) == 0x00000002){
alarm_modify = 1;
alt_up_character_lcd_set_cursor_pos(char_lcd_dev, 0, 1);
alt_up_character_lcd_string(char_lcd_dev, bot_row);
}
else{
alarm_modify = 0;
alt_up_character_lcd_set_cursor_pos(char_lcd_dev, 0, 1);
alt_up_character_lcd_string(char_lcd_dev, " ");
}
// Buttons increment the hours, minutes, and seconds, respectively to Key3, Key2, and Key1
if(alarm_modify == 1 && clk_modify == 0 && alarm == 0){
// Handle if a key was pressed
if (edge_capture) {
handle_key_press_alarm_set();
}
}
// Check if alarm should go off yet
if(hours == alarm_hours && minutes == alarm_minutes && seconds == 0){
alarm = 1;
init_timer_1(&half_second);
}
// While alarm is going off
if( alarm == 1 ){
if (half_second % 2) {
// Turn hex on
hex_on();
}
else {
// Turn hex off
hex_off();
}
if( edge_capture) {
handle_key_press_alarm();
}
}
else { stop_timer_1(); }
// Check SW16 for "AM_PM" enable or "24" mode enable
// If the switch is enabled, then we turn on 24 hour mode
// Else we turn on AM / PM Mode
// TODO: Optimize so that it doesn't assign something every loop cycle. Maybe we could slim it down
if((sw_values & MASK_16) == MASK_16 ) {
am_pm_mode = 0;
}
else {
am_pm_mode = 1;
}
// Update the clock
if (tenths != old_tenths) {
// Call the util.h function to update the time
update_time(top_row, &old_tenths, &tenths, &seconds, &minutes, &hours, &day, &month, &year, am_pm_mode, 0);
// Write the updated time to the display
alt_up_character_lcd_set_cursor_pos(char_lcd_dev, 0, 0);
alt_up_character_lcd_string(char_lcd_dev, top_row);
}
}
return 0;
}
int main(void) //beginning of main function
{
DDRA=asmfunction(); //set PORTA to write
DDRB=0xFF; //set PORTB to write
DDRC=0xFF; //set PORTC to write
DDRD=0b10111011; //set PIND2 and PIND6 to read and the rest of PORTD to write
PORTB=PORTB&0b01111111; //set PINB7 to logic zero (turn on green LED)
PORTB=PORTB|0b01000000; //set PINB6 to logic one (turn off red LED)
PORTD=0b01000100; //enable pull-up resistors of PIND2 and PIND6
lcd_init(); //initialize LCD display
lcd_clear(); //clear LCD display
lcd_home(); //set cursor of LCD to the first character position
/*The next two lines configure T/C0 and T/C2 to set OCR0 and OCR2, respectively on compare match when
the T/C subsystem's respective counting register is counting up and to clear OCR0 and OCR2 when counting
down. Configured as Fast PWM, Phase-Correct with a prescalar of one.*/
TCCR2=(1<<WGM20)|(1<<COM21)|(1<<COM20)|(1<<CS20);
TCCR0=(1<<WGM00)|(1<<COM01)|(1<<COM00)|(1<<CS00);
/*The next two lines configure TCNT1 to increment every clock cycle; Configure Enable Input Capture Interrupt
to trigger on rising edge; Enable Input Capture Noise Canceller; Locally enable T/C 1 Input Capture Interrupt
and T/C 1 Overflow Interrupt.*/
TCCR1B=(1<<ICES1)|(1<<CS10)|(1<<ICNC1);
TIMSK=(1<<TICIE1)|(1<<TOIE1);
MCUCR=(1<<ISC00)|(1<<ISC01);//configure external interrupt 1 to trigger on rising edge
GICR=(1<<INT0); //locally enable external interrupt 1
sei(); //set global interrupt flag
unsigned long int button=0; //unsigned long integer (32 bits--sent by IR remote)
uint8_t led=0; //state of LED (used to confirm 34-bit transmission by IR remote)
int speed=0; //speed of motors at maximum
int lights=off;
lcd_printf("Waiting"); //print "Waiting" on LCD (wait for button to be pushed on IR remote)
PORTB=PORTB|0b00000010;
while(1) //infinite loop
{
if(bit==34) //wait until bit=34--Input Capture ISR called 34 times (1 start bit, 32 data bits, and 1 stop bit sent by IR remote)
{
button=decipher(remote); //decipher the 32 data bits as either 1 or 0 depending on TCNT1 values;
//pass remote as parameter and set button equal to return value
bit=0; //reset bit equal to 0 (prepare to receive a new command)
if(led==0) //if the state of led is 0, turn off green LED and turn on red LED
{ //then switch the state of led to 1
PORTB=PORTB&0b10111111;
PORTB=PORTB|0b10000000;
led++;
}
else //if the state of led is not 0 (state is 1), turn off red LED and turn on green LED
{ //then switch the state of led to 0
PORTB=PORTB&0b01111111;
PORTB=PORTB|0b01000000;
led--;
}
switch(button) //check the value of button (button that was pushed on remote)
{
case up_arrow: //if up arrow was pushed, make robot go forward
forward();
break;
case down_arrow: //if down arrow was pushed, make robot go backward
backward();
break;
case left_arrow: //if left arrow was pushed, make robot go left
left();
break;
case right_arrow: //if right arrow was pushed, make robot go right
right();
break;
case channel_up: //if channel up was pushed, speed robot up (speed is parameter sent to speed_up function); speed equals returned value
speed=speed_up(speed);
break;
case channel_down: //if channel down was pushed, slow robot down (speed is parameter sent to speed_down function); speed equals returned value
speed=slow_down(speed);
break;
case mute: //if mute was pushed, toggle lights from off to on or on to off; pass lights as parameter and set lights equal to returned value
lights=toggle_lights(lights);
break;
default: //if any other button was pushed, stop robot
stop();
break;
}
OCR0=speed; //set the speed of the left motor depending on value of speed
OCR2=speed; //set the speed of the right motor depending on value of speed
}
}
}
