// Follow a line, after we've been aligned to it, stopping based on color, distance, or time
void _followLine(FloorColor color, int speed, FloorColor stopColor, int stopDistance, int stopTime) {
// Reset the drive encoder if we're going to use it
if (stopDistance != 0) {
resetDriveEncoder();
}
// Loop until we hit a stop condition
while (true) {
if (stopColor != UNKNOWN && (onColor(stopColor, LSvalRaw(lineRight)))) {
break;
} else if (stopDistance > 0 && readDriveEncoder() > stopDistance) {
break;
} else if (stopDistance < 0 && readDriveEncoder() < stopDistance) {
break;
} else if (stopTime > 0 && true) {
// Can we check elapsed time?
break;
}
if (onColor(color, LSvalRaw(lineLeft))) {
runDriveMotors(0, speed);
} else if (onColor(color, LSvalRaw(lineRight))) {
runDriveMotors(speed, 0);
} else {
runDriveMotors(speed, speed);
}
}
// Always stop when we're done
stopDriveMotors();
}
// Determine the color under the sensor
FloorColor floorColor(int sensorVal) {
int color;
for (color = 0; color < NUM_COLORS; color++) {
if (onColor(color, sensorVal)) {
return (FloorColor)color;
}
}
return UNKNOWN;
}
// Align to a line, assuming we start at or just beyond it, but stop if we hit the STOP color with either sensor
void alignLine(FloorColor color, int speed, FloorColor stop = UNKNOWN, bool reverse = false) {
// Spin ~180 if we've been asked to align in reverse
if (reverse) {
// Nudge forward
runDriveMotors(100, 100);
wait1Msec(150);
// Spin in place
runDriveMotors(100, -100);
wait1Msec(1500);
stopDriveMotors();
}
// Start our turn to get the front sensor on the line
while(!onColor(color, LSvalRaw(lineLeft))) {
// Stop alignment efforts if we hit the specified stop floor color
if (stop != UNKNOWN && (onColor(stop, LSvalRaw(lineRight)) || onColor(stop, LSvalRaw(lineLeft)))) {
break;
}
// Turn in place
runDriveMotors(speed, -1 * speed);
}
stopDriveMotors();
// When the back sensor is on the line, we're aligned
while(!onColor(color, LSvalRaw(lineRight))) {
// Stop alignment efforts if we hit the specified stop floor color
if (stop != UNKNOWN && (onColor(stop, LSvalRaw(lineRight)) || onColor(stop, LSvalRaw(lineLeft)))) {
break;
}
// Drive forward until the front sensor is clear of the line
// TODO: Adjust onColor to provide more useful results, so we can invert this test
if (!onColor(GREY, LSvalRaw(lineLeft))) {
runDriveMotors(speed, speed);
// Turn while neither sensor is on the line
} else if (!onColor(color, LSvalRaw(lineRight)) && !onColor(color, LSvalRaw(lineLeft))) {
runDriveMotors(speed, 0);
}
}
// Always stop when we're done
stopDriveMotors();
}
int QLed::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
if (_id < 5)
qt_static_metacall(this, _c, _id, _a);
_id -= 5;
}
#ifndef QT_NO_PROPERTIES
else if (_c == QMetaObject::ReadProperty) {
void *_v = _a[0];
switch (_id) {
case 0: *reinterpret_cast< bool*>(_v) = value(); break;
case 1: *reinterpret_cast< ledColor*>(_v) = onColor(); break;
case 2: *reinterpret_cast< ledColor*>(_v) = offColor(); break;
case 3: *reinterpret_cast< ledShape*>(_v) = shape(); break;
}
_id -= 4;
} else if (_c == QMetaObject::WriteProperty) {
void *_v = _a[0];
switch (_id) {
case 0: setValue(*reinterpret_cast< bool*>(_v)); break;
case 1: setOnColor(*reinterpret_cast< ledColor*>(_v)); break;
case 2: setOffColor(*reinterpret_cast< ledColor*>(_v)); break;
case 3: setShape(*reinterpret_cast< ledShape*>(_v)); break;
}
_id -= 4;
} else if (_c == QMetaObject::ResetProperty) {
_id -= 4;
} else if (_c == QMetaObject::QueryPropertyDesignable) {
_id -= 4;
} else if (_c == QMetaObject::QueryPropertyScriptable) {
_id -= 4;
} else if (_c == QMetaObject::QueryPropertyStored) {
_id -= 4;
} else if (_c == QMetaObject::QueryPropertyEditable) {
_id -= 4;
} else if (_c == QMetaObject::QueryPropertyUser) {
_id -= 4;
}
#endif // QT_NO_PROPERTIES
return _id;
}
int View3D::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: selectionChanged(); break;
case 1: fitAll(); break;
case 2: fitArea(); break;
case 3: zoom(); break;
case 4: zoomplus(); break;
case 5: zoomminus(); break;
case 6: pan(); break;
case 7: globalPan(); break;
case 8: front(); break;
case 9: back(); break;
case 10: top(); break;
case 11: bottom(); break;
case 12: left(); break;
case 13: right(); break;
case 14: axo(); break;
case 15: rotation(); break;
case 16: reset(); break;
case 17: hlrOn(); break;
case 18: hlrOff(); break;
case 19: updateToggled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 20: onBackground(); break;
case 21: timerEvent(); break;
case 22: onWireframe(); break;
case 23: onShading(); break;
case 24: onColor(); break;
case 25: onMaterial(); break;
case 26: onMaterial((*reinterpret_cast< int(*)>(_a[1]))); break;
case 27: onTransparency(); break;
case 28: onTransparency((*reinterpret_cast< int(*)>(_a[1]))); break;
case 29: onDelete(); break;
case 30: onUnDelete(); break;
}
_id -= 31;
}
return _id;
}
bool onBlack(int sensorVal) {
return onColor(BLACK, sensorVal);
}
bool onRed(int sensorVal) {
return onColor(RED, sensorVal);
}
bool onBlue(int sensorVal) {
return onColor(BLUE, sensorVal);
}
bool onGrey(int sensorVal) {
return onColor(GREY, sensorVal);
}
bool onWhite(int sensorVal) {
return onColor(WHITE, sensorVal);
}
