// script to trace an arc of radius rad until deg is reach
// NOTE: if the turn is not in the direction of deg, the arc won't end
void create_script_arc(int rad, int deg, int speed) { // rad in mm, degrees, vel in mm/sec
int sangle, dangle;
create_angle();
sangle=gc_total_angle;
dangle=sangle+deg;
create_drive(rad,speed);
if(deg>0){
while(gc_total_angle<dangle)create_angle();
}
else{
while(gc_total_angle>dangle)create_angle();
}
create_stop();
}
// script to rotate in place through deg degrees
// deg > 0 turn CCW; deg < 0 turn CW
void create_script_turn(int deg, int speed) { // degrees, vel in mm/sec
int sangle, dangle;
create_angle();
sangle=gc_total_angle;
dangle=sangle+deg;
if(deg>0){
create_spin_CCW(speed);
while(gc_total_angle<dangle)create_angle();
}
else{
create_spin_CW(speed);
while(gc_total_angle>dangle)create_angle();
}
create_stop();
}
/*
* Class: cbccore_low_Create
* Method: create_angle
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Create_create_1angle(JNIEnv *env, jobject obj)
{
#ifdef CBC
return create_angle();
#else
printf("Java_cbccore_low_Create_create_1angle stub\n");
return -1;
#endif
}
//this function will update the values for many of the sensor globals above
//serial connection failure codes are
// -1:create_mode, -2:create_wall, -3:create_buttons, -4:create_bumpdrop, -5:create_cliffs,
// -6:create_angle, -7:create_distance, -8:create_velocity, -9:create_read_IR
int create_sensor_update()
{
int r=0; // if serial connection times out, bit positions give the functions where it occurred
r=r-2*create_wall();
r=r-4*create_buttons();
r=r-8*create_bumpdrop();
r=r-16*create_cliffs();
r=r-32*create_angle();
r=r-64*create_distance();
r=r-128*create_velocity();
return(r);
}
//this function will update the values for all of the sensor globals above
//serial connection failure codes are
// -1:create_mode, -2:create_wall, -3:create_buttons, -4:create_bumpdrop, -5:create_cliffs,
// -6:create_angle, -7:create_distance, -8:create_velocity, -9:create_read_IR
int create_sensor_update()
{
float diff_angle;
//defer();
create_angle();
//create_bumpdrop();
gc_lbump=robot.lcbump;
gc_rbump=robot.rcbump;
//create_distance();
gc_distance=gc_distance+(int)((robot.lenc+robot.renc)/2L);
robot.lenc=0;
robot.renc=0;
gc_play_button=robot.play;
gc_advance_button = robot.adv;
return(0);
}
