int main() {
int isNormal;
setVariables();
while (1) {
calibrateInit();
displayCalibrate();
if(isCalibrated(&gAccRead)) {
standbyInit();
countDown();
while(1) {
if (resetFlag) break;
sendReadySignal();
runTemp(&isNormal);
if (isSafe && isNormal && hasEstablished) {
initActive();
while(1) {
int freq = calculateFreq();
runActive(freq);
runTemp(&isNormal);
if (resetFlag)
break;
if(isMayDay) {
switchDisplayToMayDay();
break;
}
if(!isNormal || !isSafe || standbyFlag) {
standbyFlag = 0;
switchDisplayToStandby();
countDown();
break;
}
}
if(resetFlag) {
switchDisplayToCalibrate();
break;
}
if(isMayDay) {
initMayDay();
runMayDay();
initLight();
switchDisplayToStandby();
countDown();
}
}
}
}
}
}
bool Video::getNextFrame(cv::Mat &frame){
if(!check_cap()){
return false;
}
if(cap.read(frame)){
if(isCalibrated()){
frame = cam->undistort(frame);
}
applyDrawables(frame);
return true;
}
else{
return false;
}
}
xpcc::co::Result<bool>
task::Mechanics::rotateForward()
{
CO_BEGIN();
if (!isCalibrated())
CO_RETURN(false);
startMotors();
xMotor.rotateBy(-3600, 10000);
CO_WAIT_WHILE(xMotor.isRunning());
zMotor.rotateBy(3600, 10000);
CO_WAIT_WHILE(zMotor.isRunning());
leds.resetBusy();
isCalibratedX = false;
isCalibratedZ = false;
CO_END_RETURN(true);
}
