main ()
{
int direction;
direction = 90;
while (1)
{
if (speed () == 0)
drive (direction, 100);
if ((direction == 90 && loc_y () > 575)
|| (direction == 270 && loc_y () < 425)
|| (direction == 180 && loc_x () < 150)
|| (direction == 0 && loc_x () > 850))
{
drive (direction, 0);
direction = (direction + 90) % 360;
}
else
{
int range;
if (range = scan (0, 10)) cannon (0, range);
else if (range = scan (30, 10)) cannon (30, range);
else if (range = scan (60, 10)) cannon (60, range);
else if (range = scan (90, 10)) cannon (90, range);
else if (range = scan (120, 10)) cannon (120, range);
else if (range = scan (150, 10)) cannon (150, range);
else if (range = scan (180, 10)) cannon (180, range);
else if (range = scan (210, 10)) cannon (210, range);
else if (range = scan (240, 10)) cannon (240, range);
else if (range = scan (270, 10)) cannon (270, range);
else if (range = scan (300, 10)) cannon (300, range);
else if (range = scan (330, 10)) cannon (330, range);
}
}
}
/* reach destination x, y; uses atan() trig function */
int
plot_course (int xx, int yy)
{
int x, y;
x = xx - loc_x ();
y = yy - loc_y ();
return atan2 (y, x) * 180 / M_PI;
}
void
go (int x, int y)
{
/* find the heading we need to get to the desired corner */
int angle = plot_course (x, y);
/* start drive train, full speed */
drive (angle, 100);
/* keep traveling until we are within 100 meters */
/* speed is checked in case we run into wall, other robot */
/* not terribly great, since we are doing nothing while moving */
while (distance (loc_x (), loc_y (), x, y) > 100 && speed () > 0)
cycle ();
/* cut speed, and creep the rest of the way */
drive (angle, 20);
while (distance (loc_x (), loc_y (), x, y) > 10 && speed () > 0)
cycle ();
/* stop drive, should coast in the rest of the way */
drive (angle, 0);
}
void console_widget_t::calc_area(int x, int y)
{
/* calculate selection area */
if(mouse_drag_type)
{
/* copy rect */
/* calculate selection start location and selection width and height */
mouse_sx = i_min(loc_x(mouse_start_x), loc_x(x));
mouse_wx = i_abs(loc_x(x)-loc_x(mouse_start_x));
mouse_sy = i_min(loc_y(mouse_start_y), loc_y(y));
mouse_wy = i_abs(loc_y(y)-loc_y(mouse_start_y));
/* no point if mouse selection is empty */
mouse_wx = (mouse_wx == 0) ? 1 : mouse_wx;
mouse_wy = (mouse_wy == 0) ? 1 : mouse_wy;
/* clip selection to the size of the console */
mouse_wx = (mouse_sx+mouse_wx > console->config.x) ?
console->config.x - mouse_sx : mouse_wx;
mouse_wy = (mouse_sy+mouse_wy > console->config.y) ?
console->config.y : mouse_wy;
}
else
{
/* copy lines */
/* calculate start and end of selection */
loc_start = loc_x(mouse_start_x) + loc_y(mouse_start_y) * console->config.x;
loc_end = loc_x(x) + loc_y(y) * console->config.x;
/* swap start and end as needed */
if(loc_start>loc_end)
{
int temp = loc_start;
loc_start = loc_end;
loc_end = temp;
}
}
return;
}
