void StaffTextBase::write(XmlWriter& xml) const
{
if (!xml.canWrite(this))
return;
xml.stag(name());
for (ChannelActions s : _channelActions) {
int channel = s.channel;
for (QString name : s.midiActionNames)
xml.tagE(QString("MidiAction channel=\"%1\" name=\"%2\"").arg(channel).arg(name));
}
for (int voice = 0; voice < VOICES; ++voice) {
if (!_channelNames[voice].isEmpty())
xml.tagE(QString("channelSwitch voice=\"%1\" name=\"%2\"").arg(voice).arg(_channelNames[voice]));
}
if (_setAeolusStops) {
for (int i = 0; i < 4; ++i)
xml.tag(QString("aeolus group=\"%1\"").arg(i), aeolusStops[i]);
}
if (swing()) {
QString swingUnit;
if (swingParameters()->swingUnit == MScore::division / 2)
swingUnit = TDuration(TDuration::DurationType::V_EIGHTH).name();
else if (swingParameters()->swingUnit == MScore::division / 4)
swingUnit = TDuration(TDuration::DurationType::V_16TH).name();
else
swingUnit = TDuration(TDuration::DurationType::V_ZERO).name();
int swingRatio = swingParameters()->swingRatio;
xml.tagE(QString("swing unit=\"%1\" ratio= \"%2\"").arg(swingUnit).arg(swingRatio));
}
TextBase::writeProperties(xml);
xml.etag();
}
void Controller::computeTorques(int _currentFrame) {
mCurrentFrame = _currentFrame;
mTorques.setZero();
if (mState == "STAND") {
stand();
} else if (mState == "CROUCH") {
crouch();
} else if (mState == "JUMP") {
jump();
} else if (mState == "REACH") {
reach();
} else if (mState == "GRAB") {
grab();
} else if (mState == "RELEASE") {
release();
} else if (mState == "SWING") {
swing();
} else if (mState == "BENDABDOMEN") {
bendAbdomen();
} else {
std::cout << "Illegal state: " << mState << std::endl;
}
// Just to make sure no illegal torque is used. Do not remove this.
for (int i = 0; i < 6; i++) {
mTorques[i] = 0.0;
}
}
void swing(uint8_t direction_flag){
if (direction_flag == 0){;
clear_dirpin();
PIDcalc(Left);
direction_flag = 1;
wait_period(.5);
swing(direction_flag);
}
else{
set_dirpin();
PIDcalc(Right);
direction_flag = 0;
wait_period(.5);
swing(direction_flag);
}
}
void ss_sampl_H()
{
// Choose sampling method.
//#define SAMP_METHOD_SWING
#define SAMP_METHOD_SWING_S
// SWING mm
#if defined(SAMP_METHOD_SWING)
#define toR2 24+1 //20
#define toR3 12+2 //10
#define toR1 23 //15
#define toL1 23-2 //20
#define toL3 23 //20
#define toL2 12+3 //15
#define toC1 24+3 //20
#elif defined(SAMP_METHOD_SWING_S)
#define toR2 40
#define toR3 20
#define toR1 40
#define toL1 40
#define toL3 40
#define toL2 20
#define toC1 40
#else
#error Choose Sampling Method
#endif
led_off(PIO_LED_ALL);
led_on (PIO_LED_2 | PIO_LED_6 | PIO_LED_3);
// sys_delay(1000);
ss_on();
// show LEDs to find the center of block
int ss_diff;
while( !( get_key_state()==(PORT_CANCEL) || get_key_state()==(PORT_SELECT) ) )
{
ss_diff = ((int)ss_value[SS_L45]) - ((int)ss_value[SS_R45]);
led_off(PIO_LED_ALL);
if ( ss_diff > 10) led_on(PIO_LED_3);
else if ( ss_diff > 5) led_on(PIO_LED_4 | PIO_LED_1);
else if ( ss_diff < -10) led_on(PIO_LED_2);
else if ( ss_diff < -5 ) led_on(PIO_LED_5 | PIO_LED_0);
else led_on(PIO_LED_6);
}
// wait_key();
torque_on();
wait_key();
// ss_on();
led_count_down( 5, 1000 );
// debug
//#define DEBUG_SAMPL
disable_adj();
reset_spd_ptr();
// C1
led_off( PIO_LED_0 |PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_6 );
sys_delay(100); sampl_value( sC1 );
motor_start();
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// R2
led_off( PIO_LED_0|PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_0|PIO_LED_5|PIO_LED_2 );
#if defined(SAMP_METHOD_SWING)
swing(toR2);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(toR2);
#else
#error Choose Sampling Method
#endif
sampl_value( sR2 );
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// R3
led_off( PIO_LED_0|PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_2 );
#if defined(SAMP_METHOD_SWING)
swing(toR3);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(toR3);
#else
#error Choose Sampling Method
#endif
sampl_value( sR3 );
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// R1
led_off( PIO_LED_0 |PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_0 | PIO_LED_5);
#if defined(SAMP_METHOD_SWING)
swing(-toR1);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(-toR1);
#else
#error Choose Sampling Method
#endif
sampl_value( sR1 );
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// L1
led_off( PIO_LED_0 |PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_1 | PIO_LED_4);
#if defined(SAMP_METHOD_SWING)
swing(-toL1);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(-toL1);
#else
#error Choose Sampling Method
#endif
sampl_value( sL1 );
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// L3
led_off( PIO_LED_0 |PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_3);
#if defined(SAMP_METHOD_SWING)
swing(-toL3);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(-toL3);
#else
#error Choose Sampling Method
#endif
sampl_value( sL3 );
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// L2
led_off( PIO_LED_0 |PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_1|PIO_LED_3|PIO_LED_4 );
#if defined(SAMP_METHOD_SWING)
swing(toL2);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(toL2);
#else
#error Choose Sampling Method
#endif
sampl_value( sL2 );
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
// C1
led_off( PIO_LED_0 |PIO_LED_1|PIO_LED_2|PIO_LED_3|PIO_LED_4|PIO_LED_5|PIO_LED_6);
led_on ( PIO_LED_6 );
#if defined(SAMP_METHOD_SWING)
swing(toC1);
#elif defined(SAMP_METHOD_SWING_S)
swing_S(toC1);
#else
#error Choose Sampling Method
#endif
#ifdef DEBUG_SAMPL
motor_stop(); wait_key(); motor_start();
#endif
motor_stop();
ss_off();
torque_off();
}
//----------------------------------------------
void ttChar::update(){
float x =20;
float scale = 1000;
float smallMove;
float smallMoveSale = 1.2;
if (charNum == 0) {
if (bFixedMove==true){
control_A->bSmallLeft = false;
control_A->bSmallRight = false;
control_A->bLeft = false;
control_A->bRight = false;
if (bReset) {
character.setVelocity(0, 0);
bReset = false;
}
}else{
bReset = true;
if (control_A->diff.x>1||control_A->diff.x<-1) {
smallMove = control_A->diff.x*smallMoveSale;
}
else
{
smallMove = 0;
}
if (control_A->bLeft == true && character.getVelocity().x< 15)
{
character.addForce(ofVec2f(x,0), scale);
control_A->bLeft = false;
mirrorLeft = true;
}
else if(control_A->bRight == true && character.getVelocity().x> -15)
{
character.addForce(ofVec2f(-x,0), scale);
control_A->bRight = false;
mirrorLeft = false;
}else if (control_A->bSmallLeft == true) {
character.setVelocity(smallMove, 0);
control_A->bSmallLeft = false;
mirrorLeft = true;
}
else if(control_A->bSmallRight == true)
{
character.setVelocity(smallMove, 0);
control_A->bSmallRight = false;
mirrorLeft = false;
}
}
}
if(charNum == 1){
if (bFixedMove == true) {
control_B->bSmallLeft = false;
control_B->bSmallRight = false;
control_B->bLeft = false;
control_B->bRight = false;
if (bReset) {
character.setVelocity(0, 0);
bReset = false;
}
}
else
{
bReset = true;
if (control_B->diff.x>1||control_B->diff.x<-1) {
smallMove = control_B->diff.x*smallMoveSale;
}else{
smallMove = 0;
}
if (control_B->bLeft == true && character.getVelocity().x>-15)
{
character.addForce(ofVec2f(-x,0), scale);
control_B->bLeft = false;
mirrorLeft = true;
}
else if(control_B->bRight == true && character.getVelocity().x<15)
{
character.addForce(ofVec2f(x,0), scale);
control_B->bRight = false;
mirrorLeft = false;
}else if (control_B->bSmallLeft == true)
{
character.setVelocity(smallMove, 0);
control_B->bSmallLeft = false;
mirrorLeft = true;
}
else if(control_B->bSmallRight == true){
character.setVelocity(smallMove, 0);
control_B->bSmallRight = false;
mirrorLeft = false;
}
}
}
swing();
dead();
getPos = character.getPosition();
}
//----------------------------------------------
void ttChar::update() {
float x =20;
float scale = 1000;
float smallMove;
float smallMoveSale = 1.2;
if (charNum == 0) {
if (bFixedMove==true) {
control_A->bSmallLeft = false;
control_A->bSmallRight = false;
control_A->bLeft = false;
control_A->bRight = false;
if (bReset) {
character.setVelocity(0, 0);
bReset = false;
}
} else {
bReset = true;
if (control_A->diff.x>1||control_A->diff.x<-1) {
smallMove = control_A->diff.x*smallMoveSale;
}
else
{
smallMove = 0;
}
if (control_A->bLeft == true && character.getVelocity().x< 15)
{
character.addForce(ofVec2f(x,0), scale);
control_A->bLeft = false;
mirrorLeft = true;
}
else if(control_A->bRight == true && character.getVelocity().x> -15)
{
character.addForce(ofVec2f(-x,0), scale);
control_A->bRight = false;
mirrorLeft = false;
} else if (control_A->bSmallLeft == true) {
character.setVelocity(smallMove, 0);
control_A->bSmallLeft = false;
mirrorLeft = true;
}
else if(control_A->bSmallRight == true)
{
character.setVelocity(smallMove, 0);
control_A->bSmallRight = false;
mirrorLeft = false;
}
}
}
if(charNum == 1) {
if (bFixedMove == true) {
control_B->bSmallLeft = false;
control_B->bSmallRight = false;
control_B->bLeft = false;
control_B->bRight = false;
if (bReset) {
character.setVelocity(0, 0);
bReset = false;
}
}
else
{
bReset = true;
if (control_B->diff.x>1||control_B->diff.x<-1) {
smallMove = control_B->diff.x*smallMoveSale;
} else {
smallMove = 0;
}
if (control_B->bLeft == true && character.getVelocity().x>-15)
{
character.addForce(ofVec2f(-x,0), scale);
control_B->bLeft = false;
mirrorLeft = true;
}
else if(control_B->bRight == true && character.getVelocity().x<15)
{
character.addForce(ofVec2f(x,0), scale);
control_B->bRight = false;
mirrorLeft = false;
} else if (control_B->bSmallLeft == true)
{
character.setVelocity(smallMove, 0);
control_B->bSmallLeft = false;
mirrorLeft = true;
}
else if(control_B->bSmallRight == true) {
character.setVelocity(smallMove, 0);
control_B->bSmallRight = false;
mirrorLeft = false;
}
}
}
if (bSwing) {
swing();
} else {
getPos = character.getPosition();
bHookIt = false;
}
dead();
if (joints.empty()&&!rects.empty()) {
alpha-=5;
}
if (alpha<=100) {
destroyRect();
alpha = 255;
bDestroyRect = false;
}
}
