void ZRUser(float myState[12], float otherState[12], float time) {
if (time < 150) {
//TODO: move to center of panel initialization circle, instead of
//assuming that position from the start
float attitude[3] = {0, 1, 0};
ZRSetAttitudeTarget(attitude);
//TODO: rotate around the circle to find the panel; in this case,
//panel angle is 0 so we automatically see it after the attitude change
if (isPanelFound() && time > 20) {
float velocity[3] = {0, 0.01, 0};
ZRSetVelocityTarget(velocity);
}
if (iHavePanel() && time > 70 && time < 75) {
float stop[3] = {0, 0, 0};
ZRSetVelocityTarget(stop);
}
if (iHavePanel() && time > 75 && time < 150) {
float station[3] = {-.7, 0, 0};
ZRSetPositionTarget(station);
}
}
if (iHavePanel() && time == 150) {
float searchStation[3] = {0, 0.1, 0};
ZRSetTorques(searchStation);
}
if (isStationInSync() && time > 150) {
float stop[3] = {0, 0, 0};
float velocity[3] = {0, 0, .01};
ZRSetTorques(stop);
ZRSetVelocityTarget(velocity);
}
}
void HistDump(float * myState, float * otherState, int time) {
float pos[3] = {0,0,0};
int k;
for (k=0; k<3; k++) {
pos[k] = myState[k];
}
for (k=0; k<12; k++) {
history[35*time+k] = myState[k];
history[35*time+12+k] = otherState[k];
}
history[35*time+24] = iHavePanel();
history[35*time+25] = otherHasPanel();
history[35*time+26] = isPanelFound();
history[35*time+27] = isPanelInSync();
history[35*time+28] = isStationInSync();
history[35*time+29] = getCurrentScore();
history[35*time+30] = getOtherCurrentScore();
history[35*time+31] = getPercentChargeRemaining();
history[35*time+32] = getPercentFuelRemaining();
history[35*time+33] = otherRepelling();
history[35*time+34] = outsideBoundary(pos);
}
