void FreeCamera::Update()
{
float deltaT = 0.01f;
static GLfloat ACCELERATION = 2.0f;
if(GlobalVar::keys[GLFW_KEY_RIGHT_CONTROL])
deltaT *= ACCELERATION;
/* Camera movment*/
if(GlobalVar::keys[GLFW_KEY_W]) MoveForward(deltaT);
if(GlobalVar::keys[GLFW_KEY_S]) MoveForward(-deltaT);
if(GlobalVar::keys[GLFW_KEY_A]) MoveRight(-deltaT);
if(GlobalVar::keys[GLFW_KEY_D]) MoveRight(deltaT);
if(GlobalVar::keys[GLFW_KEY_R]) MoveLift(deltaT);
if(GlobalVar::keys[GLFW_KEY_F]) MoveLift(-deltaT);
// Rotate camera
if(GlobalVar::keys[GLFW_MOUSE_BUTTON_LEFT]){
// Retrieve cursor current position
GLdouble newposX, newposY;
glfwGetCursorPos(GlobalVar::glfwWindow, &newposX, &newposY);
static GLfloat Rx=0.0f, Ry=0.0f;
static GLfloat MOUSESENSITIVTY = 0.1f;
Rx = (GLfloat)(GlobalVar::dCursorRestpos[0] - newposX) * MOUSESENSITIVTY;
Ry = (GLfloat)(newposY - GlobalVar::dCursorRestpos[1]) * MOUSESENSITIVTY;
Rotate(Rx, Ry, 0);
// Save last cursor position
GlobalVar::dCursorRestpos[0] = newposX;
GlobalVar::dCursorRestpos[1] = newposY;
}
}
task main()
{
waitForStart();
wait1Msec(1450);
MotorEncoderTarget(2, 11, 11, 65, 10);
if (SensorValue[IRSeeker] > 2)
{
MotorEncoderTarget(2, 20, 20, 65, 10);
Temp1++;
if (SensorValue[IRSeeker] > 2)
{
MotorEncoderTarget(2, 21, 21, 65, 10);
Temp1++;
}
}
wait10Msec(20);
MotorEncoderTarget(1, -2100, 2100, 60, 30);
//MotorEncoderTarget(1, (-2000 + Temp1*50), (1950 - Temp1*50), 60, 30);
if(Temp1 == 1)
{
MoveLift(1, 3000, 30);
}
else
{
MoveLift(1, 600, 30);
}
MotorEncoderTarget(2, 30, 30, 70, 30);
LineCheck(7 * 115);
motor[motorL] = 0;
motor[motorR] = 0;
if(Temp1 == 1)
{
MoveLift(2, 1200, 30);
}
else
{
MoveLift(2, 550, 30);
}
MotorEncoderTarget(2, -36, -36, 80, 10);
MotorEncoderTarget(1, 2100, -2100, 80, 10);
switch (Temp1)
{
case 0:
MotorEncoderTarget(2, -10, -10, 80, 10);
break;
case 1:
MotorEncoderTarget(2, -30, -30, 80, 10);
break;
case 2:
MotorEncoderTarget(2, -55, -55, 80, 10);
break;
}
}
