void servoisr()
{
static int update;
if (update>15){
update = 0;
if (STEP_ENABLE){
SYNC = true;
UpdatePosition();
UpdateTrajectory();
CalculateExtCount();
UpdatePID();
UpdatePWM();
SYNC = false;
}
rx_timer++;
} else update++;
}
void main()
{
InitHardware();
Encoder(true);
ResetServo();
delay_ms(200);
bEnable = !STEP_ENABLE;
// run these asynch tasks
for (;;){
if (bServo){
SYNC = true;
UpdatePosition();
UpdateTrajectory();
CalculateExtCount();
UpdatePID();
UpdatePWM();
HandleErrorTask();
bServo = false;
} else {
//HandleRXData();
if (SYNC){
if (bDirty && !bEnable){
bDirty = false;
SaveEEPROM();
}
SYNC = false;
}
}
}
}
void CStarburstProjectile::Update()
{
ttl--;
uptime--;
missileAge++;
if (target != nullptr && weaponDef->tracks) {
const CSolidObject* so = dynamic_cast<const CSolidObject*>(target);
if (so != NULL) {
targetPos = so->aimPos;
if (allyteamID != -1 && !ignoreError) {
const CUnit* u = dynamic_cast<const CUnit*>(so);
if (u != nullptr)
targetPos = u->GetErrorPos(allyteamID, true);
}
} else {
targetPos = target->pos;
}
targetPos += aimError;
}
if (!luaMoveCtrl) {
UpdateTrajectory();
}
if (ttl > 0) {
explGenHandler->GenExplosion(cegID, pos, dir, ttl, damages->damageAreaOfEffect, 0.0f, NULL, NULL);
}
{
const unsigned int newTracerPart = (curTracerPart + 1) % NUM_TRACER_PARTS;
curTracerPart = newTracerPart;
TracerPart* tracerPart = &tracerParts[curTracerPart];
tracerPart->pos = pos;
tracerPart->dir = dir;
tracerPart->speedf = speed.w;
unsigned int newsize = 0;
for (float aa = 0; aa < speed.w + 0.6f && newsize < MAX_NUM_AGEMODS; aa += TRACER_PARTS_STEP, ++newsize) {
const float ageMod = (missileAge < 20) ? 1.0f : (0.6f + (rand() * 0.8f) / RAND_MAX);
tracerPart->ageMods[newsize] = ageMod;
}
if (tracerPart->numAgeMods != newsize) {
tracerPart->numAgeMods = newsize;
}
}
age++;
numParts++;
if (weaponDef->visuals.smokeTrail) {
if (smokeTrail) {
smokeTrail->UpdateEndPos(pos, dir);
oldSmoke = pos;
oldSmokeDir = dir;
}
if ((age % 8) == 0) {
smokeTrail = new CSmokeTrailProjectile(
owner(),
pos,
oldSmoke,
dir,
oldSmokeDir,
age == 8,
false,
7,
SMOKE_TIME,
0.7f,
weaponDef->visuals.texture2
);
numParts = 0;
useAirLos = smokeTrail->useAirLos;
}
}
UpdateInterception();
}