void update(sf::RenderWindow *mWindow, Player *player, sf::View *view)
{
tick++;
//std::cout << "tick: " << tick << std::endl;
checkForEvents(mWindow);
checkForInput(mWindow, player, view);
player->Update();
//world->Step(1, 8, 3);
}
int main()
{
init_motors();
init_peripherals();
// find out how many cells are connected
u16 batteryCutoff;
while((batteryCutoff = getBatteryVoltage()) == 0);
if(batteryCutoff > 720) // voltage is higher than 6V -> 2cells
batteryCutoff = 720; // cutoff 6V
else
batteryCutoff = 360; // cutoff 3V
calibrate_sensors();
// enable interrupt driven gyro acquisation
startGyro();
u08 c = 0, maxThrust = (batteryCutoff>360)?70:100;
u08 cutBattery = 0;
while(1) {
if(Thrust > maxThrust)
Thrust = maxThrust;
calculate_balance(Thrust, Yaw, Pitch, Roll);
checkForInput();
// check battery
if(((c%100)==0)) {
u16 bat = getBatteryVoltage();
if(bat > 0 && bat <= batteryCutoff) {
if(maxThrust > 0)
maxThrust -= 5;
cutBattery = 1;
}
}
if(!cutBattery || !(c % 50))
PORTC ^= (1<<2);
c++;
//_delay_ms(100);
}
}
void main() {
char keyNum = 0;
keypadSetup();
rs232Setup1(); // setup the serial port
while (1) { // just loop for test
keyNum = (char) checkForInput() + '`';
Write1USART(keyNum);
Delay1KTCYx(1);
}
}
