void Player::update(int width, int height)
{
if (m_position.getX() < 0) {
stopX(0);
}
if (m_position.getX() > (width - m_width)) {
stopX(width - m_width);
}
if (m_position.getY() < 0) {
stopY(0);
}
if (m_position.getY() > (height - m_height)) {
stopY(height - m_height);
}
}
void Player::update() {
int pixelsToChangeFrame = 12;
Vector2D v0 = m_velocity;
if (m_velocity.getX() > 0) {
decrementAccelerationX();
}
if (m_velocity.getX() < 0) {
incrementAccelerationX();
}
if (m_velocity.getY() > 0) {
decrementAccelerationY();
}
if (m_velocity.getY() < 0) {
incrementAccelerationY();
}
m_velocity += m_acceleration;
if (m_velocity.getX()*v0.getX() < 0 || m_velocity.getX() == 0) {
stopX(m_position.getX());
}
if (m_velocity.getY()*v0.getY() < 0 || m_velocity.getY() == 0) {
stopY(m_position.getY());
}
if (m_velocity.length() > m_maxVelocity) {
m_velocity = m_velocity.normalize()*m_maxVelocity;
m_acceleration.setX(0);
}
m_position += m_velocity + m_acceleration * 1 / 2;
m_currentFrame = (abs((int) (m_position - m_lastStop).length()) / pixelsToChangeFrame) % m_spriteNum;
}
void arduinoThread::digitalPinChanged(const int & pinNum) {
// note: this will throw tons of false positives on a bare mega, needs resistors
if (curState == HOMING) {
if (pinNum == X_LIMIT_PIN && ard.getDigital(X_LIMIT_PIN)) {
stopX();
homeY();
}
if (pinNum == Y_LIMIT_PIN && ard.getDigital(Y_LIMIT_PIN)) {
stopY();
homeZ();
}
if (pinNum == Z_LIMIT_PIN && ard.getDigital(Z_LIMIT_PIN)) {
stopZ();
curState = HOME;
}
}
// if not homing or reseting and the switch is down, it's an error
else if (curState != PREPRINT && curState != RESET && curState != HOME && curState != SHOOT_FACE) {
if (ard.getDigital(pinNum) == ARD_HIGH){
curState = ERROR;
}
}
}
void disableServosNow(){
stopY( false );
stopZ( false );
}
void step_servoY() { // synchroniczne
volatile ServoChannel &ser = servos[INNER_SERVOY];
if( pcb_type == 2 ){ // servos + magicled
if( ser.pos_changed == true ){ // mam byc gdzie indziej
// Serial.print("-pos= " + String(servos[index].last_pos ));
// Serial.print("\t tar= " + String(servos[index].target_pos) );
// Serial.println("\t d= " + String(delta) );
servo_lib[INNER_SERVOY].writeMicroseconds(ser.last_pos);
ser.pos_changed = false;
if(ser.last_pos == ser.target_pos){ // on target pos
ser.moving= DRIVER_DIR_STOP;
send_servoYisReady();
}
}
}else if(pcb_type == 3 ){ // actuators + magicled
if( ser.moving != DRIVER_DIR_STOP ){
ser.last_pos = analogRead(PIN_B3_IN_Y);
if( ser.last_pos == y_last_val || abs(ser.last_pos - y_last_val) <= 3){
/*
if( y_repeat %30 == 1 ){
Serial.print("-");
Serial.print(ser.last_pos);
Serial.print("-");
Serial.println(y_repeat);
}*/
y_repeat++;
if( y_repeat == 700 ){
Serial.print("RRYSTOPS,");
Serial.println(ser.last_pos);
Serial.flush();
stopY( false );
sendYpos();
y_repeat = 0;
}
}else{
/*
if(y_repeat>60){
Serial.print("-reset-");
Serial.print(ser.last_pos);
Serial.print("-");
Serial.println(y_repeat);
}*/
y_repeat =0;
y_last_val = ser.last_pos;
}
if( ser.moving == DRIVER_DIR_FORWARD ){
if( ser.last_pos >= Y_MAX_VAL ){ // stop
stopY( false );
sendYpos();
// Serial.println("-step, STOP Z max");
}else if( ser.last_pos >= ser.target_pos ){
stopY( false );
sendYpos();
}
}else if( ser.moving == DRIVER_DIR_BACKWARD ){
if( ser.last_pos <= Y_MIN_VAL ){ // stop
// Serial.println("-step, STOP Z min");
stopY( false );
sendYpos();
}else if( ser.last_pos <= ser.target_pos ){
stopY( false );
sendYpos();
}
}
}
}
}
