//--------------------------------------------------------------
void ofxBulletWorldSoft::setGravity( ofVec3f a_g ) {
if(!checkWorld()) return;
world->setGravity( btVector3(a_g.x, a_g.y, a_g.z) );
world->getWorldInfo().m_gravity.setValue(a_g.x, a_g.y, a_g.z);
// clientResetScene();
}
ICommand::Handle UserRequestBuilder::buildActivateEpochRequest() const {
checkCredentials();
checkWorld();
return mReqBuilder->buildActivateEpochRequest(
mUsername, mPassword,
mWorld
);
}
//--------------------------------------------------------------
void ofxBulletWorldRigid::update( float aDeltaTimef, int aNumIterations ) {
if(!checkWorld()) return;
world->stepSimulation( aDeltaTimef, aNumIterations );
if(bDispatchCollisionEvents) {
world->performDiscreteCollisionDetection();
checkCollisions();
}
}
ICommand::Handle UserRequestBuilder::buildCreateEpochRequest (
const std::string a_epoch_name ) const {
checkCredentials();
checkWorld();
return mReqBuilder->buildCreateEpochRequest(
mUsername, mPassword,
mWorld,
a_epoch_name
);
}
//--------------------------------------------------------------
void chinoWorld::update() {
if(!checkWorld()) return;
// should this run on delta time? //
world->stepSimulation(1.0f/60.0f, 6, 1./60.);
if(bDispatchCollisionEvents) {
world->performDiscreteCollisionDetection();
checkCollisions();
}
}
/*******************************************************************
* Function: void map (void)
* Input Variables: none
* Output Return: none
* Overview: Makes the robot map the world
********************************************************************/
void map (void)
{
// Initialize State
isMapping = 1;
// Mapping Loop
while(isMapping)
{
//Sense
checkIR();
checkWorld();
//Record
setGateways();
//Plan using the Map
planMap();
//Act on the Map
moveMap();
//Shift the Map
currentCellWorld = shiftMap(currentCellWorld, currentMove, currentOrientation);
//Break?
isMapping = !((currentCellWorldStart == currentCellWorld)&&(currentOrientationStart == currentOrientation));
if(!isMapping){
break;
}
//Print Map
LCD_clear();
LCD_printf(" Move"BYTETOBINARYPATTERN"\n Cell"BYTETOBINARYPATTERN"\n Ornt"BYTETOBINARYPATTERN"\n\n",BYTETOBINARY(currentMove),BYTETOBINARY(currentCellWorld),BYTETOBINARY(currentOrientation));
printMap(currentOrientation,currentCellWorld,RESET);
TMRSRVC_delay(500);//wait 3 seconds
}
}
void CBOT_main( void )
{
// initialize the robot
initializeRobot();
currentOrientation = NORTH;
// Ask for Goal
char isDone = 0;
unsigned char btnHolder = UNPRESSED;
LCD_clear();
LCD_printf(" Goal?\n\n\n\n");
while(!isDone){
btnHolder = EnterTopoCommand();
switch(btnHolder){
case MOVE_LEFT:
currentGoalWorld--;
currentGoalWorld = currentGoalWorld&0b1111;
break;
case MOVE_FORWARD:
isDone = 1;
break;
case MOVE_RIGHT:
currentGoalWorld++;
currentGoalWorld = currentGoalWorld&0b1111;
break;
default:
break;
}
printMap(currentOrientation,currentGoalWorld,RESET);
TMRSRVC_delay(100);//wait .1 seconds
}
// Ask for starting orentation
isDone = 0;
btnHolder = UNPRESSED;
LCD_clear();
LCD_printf(" Orient?\n\n\n\n");
while(!isDone){
btnHolder = EnterTopoCommand();
switch(btnHolder){
case MOVE_LEFT:
// If we move left
// shift our oriention CCW
currentOrientation--;
currentOrientation = currentOrientation&0b11;
break;
case MOVE_FORWARD:
isDone = 1;
break;
case MOVE_RIGHT:
// If we move right
// shift our oriention CW
currentOrientation++;
currentOrientation = currentOrientation&0b11;
break;
default:
break;
}
printMap(currentOrientation,currentGoalWorld,RESET);
TMRSRVC_delay(100);//wait .1 seconds
}
// Ask to start
isDone = 0;
btnHolder = UNPRESSED;
LCD_clear();
LCD_printf(" Start?\n\n\n\n");
while(!isDone){
btnHolder = EnterTopoCommand();
switch(btnHolder){
case MOVE_LEFT:
break;
case MOVE_FORWARD:
isDone = 1;
break;
case MOVE_RIGHT:
break;
default:
break;
}
printMap(currentOrientation,currentGoalWorld,RESET);
TMRSRVC_delay(100);//wait .1 seconds
}
// Locilize the Robot
// localize();
// Initialize State
isLost = 1;
oldMove = MOVE_STOP;
// Localization Loop
while(isLost)
{
// Break if not isLost
if(!isLost){
break;
}
//Sense Gateway
checkIR();
checkWorld();
//Plan using the Gateway
planGateway();
//Localize from Gateways?
isLost = localizeGateway();
//Act on the Gateway
moveMap();
}
// Update the currentOrientation using currentMove
switch(currentMove){
// case MOVE_LEFT:
// // If we move left
// // shift our oriention CCW
// currentOrientation--;
// currentOrientation = currentOrientation&0b11;
// break;
case MOVE_FORWARD:
break;
// case MOVE_RIGHT:
// // If we move right
// // shift our oriention CW
// currentOrientation++;
// currentOrientation = currentOrientation&0b11;
// break;
default:
LCD_printf("Whatz2?!");
break;
}
SPKR_beep(500);
// LCD_clear();
// LCD_printf("LOLZ\nI'm found!");
// TMRSRVC_delay(3000);//wait 3 seconds
LCD_clear();
LCD_printf(" New Map\n\n\n\n");
printMap(currentOrientation,currentCellWorld,RESET);
TMRSRVC_delay(1000);//wait 1 seconds
SPKR_beep(0);
// currentCellWorld = 0;
isFire = 0;
// Go firefight
while(!isFire){
//Sense Gateway
checkIR();
checkWorld();
isFire = checkFire();
if(isFire){
break;
}
// Plan using Map
planMap();
// Shift the map
currentCellWorld = shiftMap(currentCellWorld, currentMove, currentOrientation);
// Act on the Map
moveMap();
}
// // Beep for the fire SIREN
// int ii;
// for (ii=0; ii<=3; ii++){
// SPKR_beep(250);
// TMRSRVC_delay(1000);
// SPKR_beep(500);
// TMRSRVC_delay(1000);
// }
// SPKR_beep(0);
// // Print the fire cell location
// LCD_clear();
// LCD_printf("Fire = %i\n\n\n\n", currentFireCell);
// TMRSRVC_delay(5000);
// Moves the Robot to the goal
metric();
// Print that you are at home and the fire cell location
LCD_clear();
LCD_printf("LOLZ\nI'm HOME\nFire at Cell: %i\n\n",currentFireCell);
// Stop when home is reached
STEPPER_stop(STEPPER_BOTH, STEPPER_BRK_OFF);
// Beep when home is reached
SPKR_beep(500);
TMRSRVC_delay(3000);//wait 3 seconds
SPKR_beep(0);
TMRSRVC_delay(7000);//wait 7 seconds
/**
// Enter the robot's current (starting) position
LCD_printf("START Map/nlocation\n\n\n");
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
worldInput();
TMRSRVC_delay(1000);//wait 3 seconds
LCD_clear();
// Enter the robot's current (starting) orientation
LCD_printf("START Map/norientation\n\n\n");
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
orientationInput();
TMRSRVC_delay(1000);//wait 3 seconds
LCD_clear();
// Print the map
LCD_clear();
printMap(currentOrientation,currentCellWorld,RESET);
TMRSRVC_delay(10000);//wait 10 seconds
LCD_clear();
// Enter the robot's current (starting) position
LCD_printf("START Path\nlocation\n\n\n");
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
worldInput();
TMRSRVC_delay(1000);//wait 3 seconds
LCD_clear();
// Enter the robot's current (starting) orientation
LCD_printf("START Path\norientation\n\n\n");
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
orientationInput();
TMRSRVC_delay(1000);//wait 3 seconds
LCD_clear();
// Enter the robot topological commands
LCD_printf("ENTER Path\ncommands\n\n\n");
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
movesInput();
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
// Print the robot gateways
LCD_printf("Robot Gateways:\n\n\n\n");
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
getGateways();
TMRSRVC_delay(1000);//wait 1 seconds
LCD_clear();
// Goal loop
while (1)
{
checkIR();
checkWorld();
moveWorld();
//Test arc function
// LCD_printf("Move Arc\n\n\n\n");
// TMRSRVC_delay(1000);//wait 1 seconds
// move_arc_stwt(POINT_TURN, LEFT_TURN, 10, 10, 0);
// //Test contact Sensors
// LCD_printf("Right Contact: %i\nLeft Contact: %i\n\n\n",rightContact,leftContact);
// TMRSRVC_delay(1000);//wait 1 seconds
// // Test IR Sensors
// LCD_clear();
// LCD_printf("FrontIR = %3.2f\nBackIR = %3.2f\nLeftIR = %3.2f\nRightIR = %3.2f\n", ftIR,bkIR,ltIR,rtIR);
// TMRSRVC_delay(1000);//wait 1 seconds
}
**/
}// end the CBOT_main()
//--------------------------------------------------------------
ofVec3f ofxBulletWorldSoft::getGravity() {
if(!checkWorld()) return ofVec3f(0,0,0);
btVector3 g = world->getGravity();
return ofVec3f(g.getX(), g.getY(), g.getZ());
}
//--------------------------------------------------------------
void ofxBulletWorldRigid::setGravity( ofVec3f a_g ) {
if(!checkWorld()) return;
world->setGravity( btVector3(a_g.x, a_g.y, a_g.z) );
}
