/*
* Class: cbccore_low_Create
* Method: create_bumpdrop
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Create_create_1bumpdrop(JNIEnv *env, jobject obj)
{
#ifdef CBC
return create_bumpdrop();
#else
printf("Java_cbccore_low_Create_create_1bumpdrop stub\n");
return -1;
#endif
}
void FORTE_iCreateBumper::executeEvent(int pa_nEIID){
switch (pa_nEIID){
case scm_nEventREQID:
create_bumpdrop();
LtBump() = gc_lbump;
RtBump() = gc_rbump;
sendOutputEvent(scm_nEventCNFID);
break;
}
}
void FORTE_iCreateWheels::executeEvent(int pa_nEIID){
switch (pa_nEIID){
case scm_nEventREQID:
create_bumpdrop();
CasterDrop() = gc_fdrop;
LtDrop() = gc_ldrop;
RtDrop() = gc_rdrop;
sendOutputEvent(scm_nEventCNFID);
break;
}
}
//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);
}
