void ObjMonster::actionWalk(Point des){
if(getState() == EobjState::E_HURT) return;
Point destination = getPointInMap(des);
assert(rootObj);
rootObj->stopAllActions();
setState(EobjState::E_WALK);
if((destination.x < rootObj->getPosition().x && dir == EDIR_FORWARD) || (destination.x > rootObj->getPosition().x && dir == EDIR_BACKWARD)){
turnAround();
}
Animation* walk = createAnimateWithFileNames("RobotRun%d.png", 6);
walk->setDelayPerUnit(0.1);
auto action = Animate::create(walk);
float distance = sqrtf((destination.x - rootObj->getPositionX()) * (destination.x - rootObj->getPositionX()) +
(destination.y - rootObj->getPositionY()) * (destination.y - rootObj->getPositionY()));
float dur = distance / speed;
auto moveTo = MoveTo::create(dur, destination);
rootObj->runAction(RepeatForever::create(action));
rootObj->runAction(CCSequence::create(moveTo, CallFunc::create( CC_CALLBACK_0(ObjMonster::actionStand,this)), NULL));
//target->runAction(Follow::create(rootObj));
}
int main(void)
{
SYSTEMConfigPerformance(40000000);
initLCD(); //initialize the LCD
enableInterrupts();
initADC(); //initialize the ADC
initPWM(); //initialize the PWM
initTimer3(); //initialize the timer
TRISDbits.TRISD0 = 0;
LATDbits.LATD0 = 0;
initUART(); //initialize UART
sendByte('M');
while(1)
{
if(U2STAbits.URXDA)
{
input = U2RXREG; //saves RX reg buffer
sendByte(input); //echos pressed key back to prompt
sendByte(':'); //sends : to terminal prompt
}
switch(input) {
case 'w': //forward
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 700;
LW = 700;
break;
case 'a': //left
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 700;
LW = 100;
break;
case 's': //backward
LEFTMOTORDIRECTION1 = 1;
LEFTMOTORDIRECTION2 = 0;
RIGHTMOTORDIRECTION1 = 1;
RIGHTMOTORDIRECTION2 = 0;
RW = 700;
LW = 700;
break;
case 'd': //right
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 100;
LW = 700;
break;
case 'p':
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 0;
LW = 0;
break;
}
startRead(0); //starts reading from ADC (POT)
adcVal0 = waitToFinish0(); //save digital value of pot
startRead(1); //starts reading from ADC (Leftmost)
adcVal1 = waitToFinish1(); //save digital value of leftmost phototransistor
startRead(2); //starts reading from ADC (Middle)
adcVal2 = waitToFinish2(); //save digital value of middle phototransistor
startRead(3); //starts reading from ADC (Rightmost)
adcVal3 = waitToFinish3(); //save digital value of rightmost phototransistor
moveCursorLCD(0,2);
sprintf(str, "%d,%d,%d", adcVal1/10, adcVal2/10, adcVal3/10);
printStringLCD(str);
scan(); //scan three transistors
moveCursorLCD(0,1);
sprintf(str, "%d, %d, %d", L1, L2, L3);
printStringLCD(str);
determineState();
switch(jason)
{
case followLine_detectEnd:
followLine();
detectEnd();
break;
case turnAroundJason:
turnAround();
break;
}
}
return 0;
}
void goBack(int *mx,int *my,int *dir) {
turnAround(dir);
go(mx,my,*dir);
}
// This function checks and deals with atn signal commands
//
// If a command is recieved, the cmd-string is saved in cmd. Only commands
// for *this* device are dealt with.
//
// Return value, see IEC::ATNCheck definition.
IEC::ATNCheck IEC::checkATN(ATNCmd& cmd)
{
ATNCheck ret = ATN_IDLE;
byte i = 0;
if(not readATN()) {
// Attention line is active, go to listener mode and get message
writeDATA(true);
writeCLOCK(false);
#ifdef CONSOLE_DEBUG
//Log(Information, FAC_IEC, "ATT.ACTIVE");
#endif
delayMicroseconds(TIMING_ATN_PREDELAY);
// Get first ATN byte, it is either LISTEN or TALK
ATNCommand c = (ATNCommand)receiveByte();
if(m_state bitand errorFlag)
return ATN_ERROR;
if(c == (ATN_CODE_LISTEN bitor m_deviceNumber)) {
// Okay, we will listen.
#ifdef CONSOLE_DEBUG
//Log(Information, FAC_IEC, "LISTEN");
#endif
// Get the first cmd byte, the cmd code
c = (ATNCommand)receiveByte();
if (m_state bitand errorFlag)
return ATN_ERROR;
//Log(Information, FAC_IEC, "CODE");
cmd.code = c;
if((c bitand 0xF0) == ATN_CODE_DATA) {
// A heapload of data might come now, client handles this
//Log(Information, FAC_IEC, "LDATA");
ret = ATN_CMD_LISTEN;
}
else if(c not_eq ATN_CODE_UNLISTEN) {
#ifdef CONSOLE_DEBUG
//Log(Information, FAC_IEC, "CMD");
#endif
// Some other command. Record the cmd string until UNLISTEN is send
for(;;) {
c = (ATNCommand)receiveByte();
if(m_state bitand errorFlag)
return ATN_ERROR;
if((m_state bitand atnFlag) and (c == ATN_CODE_UNLISTEN))
break;
if(i >= ATN_CMD_MAX_LENGTH) {
// Buffer is going to overflow, this is an error condition
return ATN_ERROR;
}
cmd.str[i++] = c;
}
ret = ATN_CMD;
}
}
else if (c == (ATN_CODE_TALK bitor m_deviceNumber)) {
// Okay, we will talk soon, record cmd string while ATN is active
#ifdef CONSOLE_DEBUG
//Log(Information, FAC_IEC, "TALK");
#endif
// First byte is cmd code
c = (ATNCommand)receiveByte();
if(m_state bitand errorFlag)
return ATN_ERROR;
cmd.code = c;
while(not readATN()) {
if(readCLOCK()) {
c = (ATNCommand)receiveByte();
if(m_state bitand errorFlag)
return ATN_ERROR;
if(i >= ATN_CMD_MAX_LENGTH) {
// Buffer is going to overflow, this is an error condition
return ATN_ERROR;
}
cmd.str[i++] = c;
}
}
// Now ATN has just been released, do bus turnaround
if(!turnAround())
return ATN_ERROR;
// We have recieved a CMD and we should talk now:
ret = ATN_CMD_TALK;
}
else {
// Either the message is not for us or insignificant, like unlisten.
delayMicroseconds(TIMING_ATN_DELAY);
writeDATA(false);
writeCLOCK(false);
// {
// char buffer[20];
// sprintf(buffer, "NOTUS: %u", c);
// Log(Information, FAC_IEC, buffer);
// }
// Wait for ATN to release and quit
while(not readATN());
//Log(Information, FAC_IEC, "ATNREL");
}
}
else {
// No ATN, release lines
writeDATA(false);
writeCLOCK(false);
}
// some delay is required before more ATN business
delayMicroseconds(TIMING_ATN_DELAY);
cmd.strlen = i;
return ret;
} // checkATN
void main(void)
{
init();
STOP();
lcd_set_cursor(0x00);
lcd_write_string("(-,-) - -- --- -"); //x/y of robot, explore/return, zone of victim/got victim, walls, way went
lcd_set_cursor(0x40);
lcd_write_string("- - - (3,1) GREG"); //orientation, cliff detected, v.wall detected, x/y of final destination
char victimIndicator = 0;
while(!home)
{
if(start.pressed && ready == FALSE)
{
findWalls();
if(leftWall && rightWall && frontWall) //if facing east
turnAround(); //turn to face west
else if (rightWall && frontWall) //if facing north
turnLeft90(); //turn to face west
else if(leftWall && frontWall) //if facing south
turnRight90(); //turn to face west
ready = TRUE; //commence exploring the map
lcd_set_cursor(0x06);
lcd_write_data('E'); //Explore mode
play_iCreate_song(1);
}
//EEPROM Serial Transfer
if(eepromSerial.pressed && ready == FALSE)
{
eepromSerial.pressed = FALSE;
lcd_set_cursor(0x00);
lcd_write_string("EEPROM Serial ");
lcd_set_cursor(0x40);
lcd_write_string("Please Wait... ");
writeEEPROMTestData();
EEPROMToSerial();
lcd_set_cursor(0x40);
lcd_write_string("Complete ");
}
if(start.pressed)
{
ready = TRUE;
checkForFinalDestination();
lookForVictim();
findWalls();
play_iCreate_song(5);
if(leftWall)
{
rotateIR(24,CCW);
leftAngleCorrect();
rotateIR(24,CW);
}
play_iCreate_song(5);
if(frontWall)
frontWallCorrect();
play_iCreate_song(5);
switch(node) // Gives the Create specific movement instructions for certain squares to go shortest path home and collecting the victim
{
case 0:
goToNextCell();
break;
case 1:
if (goingHome)
{
if (victimZone == 1)
goRight();
else if (getOrientation() == EAST)
goForward();
else if (getOrientation() == SOUTH)
goRight();
else
goToNextCell();
}
else
goToNextCell();
break;
case 2:
if (goingHome)
{
if (victimZone == 2)
goForward();
else if (getOrientation() == SOUTH)
goRight();
else if (getOrientation() == NORTH)
goLeft();
else
goToNextCell();
}
else
goToNextCell();
break;
case 3:
if (goingHome)
{
if (victimZone == 3)
goRight();
else if (getOrientation() == EAST)
goForward();
else if (getOrientation() == SOUTH)
goLeft();
else
goToNextCell();
}
else
goToNextCell();
break;
case 4:
if (getOrientation() == EAST)
goRight();
else
goToNextCell();
break;
case 5:
if (getOrientation() == NORTH)
goRight();
else
goToNextCell();
break;
case 6:
if (getOrientation() == WEST)
{
play_iCreate_song(6);
goForward();
}
else
goToNextCell();
break;
default:
break;
}
play_iCreate_song(5);
if(getSuccessfulDrive())
{
//Send EEPROM data for current cell
if(xVictim == xCoord && yVictim == yCoord)
{
victimIndicator = 1;
}
/*if(xVirtual == xCoord && yVirtual == yCoord)
{
switch(dVirtual)
{
case WEST:
{
updateMapData(1,0,0,0,victimIndicator,getOrientation());
break;
}
case SOUTH:
{
updateMapData(0,1,0,0,victimIndicator,getOrientation());
break;
}
case EAST:
{
updateMapData(0,0,1,0,victimIndicator,getOrientation());
break;
}
case NORTH:
{
updateMapData(0,0,0,1,victimIndicator,getOrientation());
break;
}
default:
updateMapData(0,0,0,0,victimIndicator,getOrientation());
}
}*/
updateMapData(0,0,0,0,victimIndicator,getOrientation());
victimIndicator = 0;
updateLocation();
updateNode();
if(goingHome)
checkIfHome();
}
}
}
}
