void change_speed(t_lidar *lidar)
{
lidar->wheels = 0;
wheels(lidar->wheels, lidar);
if (lidar->speed < 0.6 && lidar->middle > 1800)
lidar->speed += 0.1;
else if (lidar->speed > 0.3 && lidar->middle < 1800)
lidar->speed -= 0.1;
forward(lidar->speed, lidar);
}
void turn(t_lidar *lidar)
{
if (lidar->left - lidar->right > 0 && lidar->middle_right <= 700)
{
if (lidar->wheels + 0.1 <= 0.4)
lidar->wheels += 0.1;
wheels(lidar->wheels, lidar);
if (lidar->speed - 0.1 >= 0.2)
lidar->speed -= 0.1;
forward(lidar->speed, lidar);
}
else if (lidar->left - lidar->right < 0 && lidar->middle_left <= 700)
{
if (lidar->wheels - 0.1 >= -0.4)
lidar->wheels -= 0.1;
wheels(lidar->wheels, lidar);
if (lidar->speed - 0.1 >= 0.2)
lidar->speed -= 0.1;
forward(lidar->speed, lidar);
}
else
change_speed(lidar);
}
task usercontrol()
{
lawnswap = 0;
lawnchair[0] = 0;
lawnchair[1] = 0;
motor[port2] = 0;
motor[port3] = 0;
motor[port4] = 0;
motor[port5] = 0;
motor[port6] = 0;
motor[port7] = 0;
motor[port8] = 0;
motor[port9] = 0;
//////////////////////////make this less stupid///////
int egg;
int lel;
int past1;
int past2;
int enc;
int enc2;
int enc3;//encoder
string sneakydeaky;
float cisstupid;
bLCDBacklight = true;
clk = 0;
enc = nMotorEncoder[port8];
int batdivk[2]; //batterydividedby
string line1; //line1 of lcd
string line2; //line2 of lcd
lawnswap = 0;
while(true)
{
batdivk[0] = nImmediateBatteryLevel;
batdivk[1] = SensorValue[in1];
if(lawnswap == 1)
{
line1 = "MANUAL MODE"; //or Battery or batdivk[0];
lel = 1;
line2 = enc;
}
else
{
if(lel == 1)
{
if(lawnswap2 == 0)
{
line1 = "PID";
lel = 0;
}
else if(lawnswap2 == 2)
{
line1 = "Driver Assisted";
lel = 0;
}
}
if(vexRT[Btn8U] == 1)
{
line1 = "HIGH";
}
if(vexRT[Btn8L] == 1)
{
line1 = "MEDIUM";
}
if(vexRT[Btn8D] == 1)
{
line1 = "LOW";
}
if(vexRT[Btn8R] == 1)
{
line1 = "OFF";
}
}
line2 = enc; //enc
if(nPgmTime - clk >= 70)
{
clk = nPgmTime;
past2 = past1;
past1 = nMotorEncoder[port8];
enc = nMotorEncoder[port8] - past2;
if(enc < ideal)
{
lawnchair[0] ++;
}
if(enc > ideal)
{
lawnchair[0]--;
}
}
if(lawnswap2 == 2)
{
if(enc <= enc3 && enc >= enc2)
{
motor[port6] = 90;
motor[port7] = 90;
}
else
{
motor[port6] = 0;
motor[port7] = 0;
}
}
//why
egg = nLCDButtons;
if (egg == 7) {
line1 = "Nick is dumb.";
}
else if (egg == 4) {
cisstupid = batdivk[0]/1000.;
line1 = cisstupid;
}
else if(egg == 2) {
if(bVEXNETActive == true){
line1 = "Vexnet is on.";
}
else {
line1 = "Vexnet is off.";
}
}
else if(egg == 1) {
line1 = lawnchair[0];
}
else {
}
displayLCDCenteredString(0, line1);
displayLCDCenteredString(1, line2);
//////////////////////////////////////////////////////
intake();
wheels();
launcher();
feedback();
rollers();
}
}
int main(int argc, char *argv[])
{
QGuiApplication app(argc, argv);
qmlRegisterType<Graph>("Graph", 1, 0, "Graph");
QQmlApplicationEngine engine;
engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
app.setWindowIcon(QIcon(":/content/icon.png"));
QMLHandlerCppSide alertLamp(engine.rootObjects()[0], "alertLamp");
QMLHandlerCppSide lineSens(engine.rootObjects()[0], "lineSens");
QMLHandlerCppSide textAccelX(engine.rootObjects()[0], "textAccelX");
QMLHandlerCppSide textAccelY(engine.rootObjects()[0], "textAccelY");
QMLHandlerCppSide textAccelZ(engine.rootObjects()[0], "textAccelZ");
QMLHandlerCppSide textGyroX(engine.rootObjects()[0], "textGyroX");
QMLHandlerCppSide textGyroY(engine.rootObjects()[0], "textGyroY");
QMLHandlerCppSide textGyroZ(engine.rootObjects()[0], "textGyroZ");
QMLHandlerCppSide textCurStatus(engine.rootObjects()[0], "textCurStatus");
QMLHandlerCppSide comboSetStatus(engine.rootObjects()[0], "comboSetStatus");
QMLHandlerCppSide textCurSpeed(engine.rootObjects()[0], "textCurSpeed");
QMLHandlerCppSide editSetSpeed(engine.rootObjects()[0], "editSetSpeed");
QMLHandlerCppSide wheels(engine.rootObjects()[0], "wheels");
QMLHandlerCppSide carAccelY(engine.rootObjects()[0], "carAccelY");
QMLHandlerCppSide carGyroX(engine.rootObjects()[0], "carGyroX");
QMLHandlerCppSide carGyroY(engine.rootObjects()[0], "carGyroY");
QMLHandlerCppSide carGyroZ(engine.rootObjects()[0], "carGyroZ");
QMLHandlerCppSide statusHistory(engine.rootObjects()[0], "statusHistory");
QMLHandlerCppSide speedGraph(engine.rootObjects()[0], "speedGraph");
QMLHandlerCppSide buttonConDiscon(engine.rootObjects()[0], "buttonConDiscon");
QMLHandlerCppSide buttonSendStatus(engine.rootObjects()[0], "buttonSendStatus");
QMLHandlerCppSide buttonSendSpeed(engine.rootObjects()[0], "buttonSendSpeed");
QMLHandlerCppSide buttonCarSelfTest(engine.rootObjects()[0], "buttonCarSelfTest");
GuiHandler guihandle(&alertLamp, &lineSens, &textAccelX, &textAccelY, &textAccelZ, &textGyroX, &textGyroY, &textGyroZ, &textCurStatus, &comboSetStatus, &textCurSpeed, &editSetSpeed, &wheels, &carAccelY, &carGyroX, &carGyroY, &carGyroZ, &statusHistory, &speedGraph, &buttonConDiscon, &buttonSendStatus, &buttonSendSpeed, &buttonCarSelfTest);
Robot mikrobi;
QObject::connect(&guihandle, SIGNAL(buttonConClicked()), &mikrobi, SLOT(connect()));
QObject::connect(&guihandle, SIGNAL(buttonDisClicked()), &mikrobi, SLOT(disconnect()));
QObject::connect(&guihandle, SIGNAL(buttonCarSelfTestClicked()), &mikrobi, SLOT(selfTest()));
QObject::connect(&guihandle, SIGNAL(buttonSendStatusClicked(QString)), &mikrobi, SLOT(status(QString)));
QObject::connect(&guihandle, SIGNAL(buttonSendSpeedClicked(float)), &mikrobi, SLOT(speed(float)));
QObject::connect(&mikrobi, SIGNAL(connected()), &guihandle, SLOT(robotConnected()));
QObject::connect(&mikrobi, SIGNAL(setAlert(int)), &guihandle, SLOT(setAlert(int)));
QObject::connect(&mikrobi, SIGNAL(disconnected()), &guihandle, SLOT(robotDisconnected()));
QObject::connect(&mikrobi, SIGNAL(setLedStrip(QVarLengthArray<bool>)), &guihandle, SLOT(setLedStrip(QVarLengthArray<bool>)));
QObject::connect(&mikrobi, SIGNAL(setTextAccelX(float)), &guihandle, SLOT(setTextAccelX(float)));
QObject::connect(&mikrobi, SIGNAL(setTextAccelY(float)), &guihandle, SLOT(setTextAccelY(float)));
QObject::connect(&mikrobi, SIGNAL(setTextAccelZ(float)), &guihandle, SLOT(setTextAccelZ(float)));
QObject::connect(&mikrobi, SIGNAL(setTextGyroX(float)), &guihandle, SLOT(setTextGyroX(float)));
QObject::connect(&mikrobi, SIGNAL(setTextGyroY(float)), &guihandle, SLOT(setTextGyroY(float)));
QObject::connect(&mikrobi, SIGNAL(setTextGyroZ(float)), &guihandle, SLOT(setTextGyroZ(float)));
QObject::connect(&mikrobi, SIGNAL(setTextStatus(QString)), &guihandle, SLOT(setTextStatus(QString)));
QObject::connect(&mikrobi, SIGNAL(setTextSpeed(float)), &guihandle, SLOT(setTextSpeed(float)));
QObject::connect(&mikrobi, SIGNAL(setWheels(QVarLengthArray<float>, const float)), &guihandle, SLOT(setWheels(QVarLengthArray<float>, const float)));
QObject::connect(&mikrobi, SIGNAL(setCarAccelY(QVarLengthArray<float>, float)), &guihandle, SLOT(setCarAccelY(QVarLengthArray<float>, float)));
QObject::connect(&mikrobi, SIGNAL(setCarGyroX(float)), &guihandle, SLOT(setCarGyroX(float)));
QObject::connect(&mikrobi, SIGNAL(setCarGyroY(float)), &guihandle, SLOT(setCarGyroY(float)));
QObject::connect(&mikrobi, SIGNAL(setCarGyroZ(float)), &guihandle, SLOT(setCarGyroZ(float)));
QObject::connect(&mikrobi, SIGNAL(drawSpeedGraph(float)), &guihandle, SLOT(drawSpeedGraph(float)));
QObject::connect(&mikrobi, SIGNAL(setTextStatus(QString)), &guihandle, SLOT(addStatusHistory(QString)));
return app.exec();
}
