/*******************************************************************
* Function: void initializeRobot(void)
* Input Variables: none
* Output Return: none
* Overview: This initialize the robot by using other startups
********************************************************************/
void initializeRobot(void)
{
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_TONE_MODE);//open the speaker in tone mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// Initialize IR Values and Reset Prefilter
checkIR();
prefilter(1);
// Mistake? odometryTrigger = WORLD_RESOLUTION_SIZE*D_STEP which is about 6
odometryTrigger = WORLD_RESOLUTION_SIZE/2.75;
// pixel array for the LCD screen
for(int i = 0; i < 4; i++) {
for(int j = 0; j < 32; j++) {
pix_arr[i][j] = 0x00;
}
}
}
const QList<Team*>& TeamBuilder::createTeams(Project& project){
if (prefilter(project))
{
QList<Team*> list;
return list;
}
PciBuilder* builder = new PciBuilder;
QMap<int, QList < QPair<int,int> >* >& pci = builder->calculatePci(project.getRegisteredStudents());
Distributor* distributor = new Distributor (pci,project);
QList<Team*> list = distributor->distributeTeams(project.getMinTeamSize(),project.getMaxTeamSize());
delete builder;
delete distributor;
delete &pci;
return list;
}
float4 __CGsampler1DARRAY_state::nearest(const __CGimage &image, float4 strq)
{
int1 u = wrapNearest(wrapS, image.borderlessSize.x, strq.s);
int1 slice = wrapNearest(GL_CLAMP_TO_EDGE, image.borderlessSize.y, strq.t);
float4 texel = image.fetch(u, slice, 0, clampedBorderValues);
return prefilter(texel, strq.p);
}
void CBOT_main( void )
{
// Initialize variables
int btnValue=0;//value of button pushed
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// Initialize IR Values and Reset Prefilter
checkIR();
prefilter(1);
// LCD_printf("PRESS a button\nOR\nWAIT for default\n");
//TMRSRVC_delay(3000);//wait 3 seconds
//btnValue = WaitButton();
LCD_clear;
// Infinite loop
while (1)
{
// update the sensor values
checkLightSensor();
checkIR();
checkContactIR();
//Test contact Sensors
// LCD_printf("Right Contact: %i\nLeft Contact: %i\n\n\n",rightContact,leftContact);
// TMRSRVC_delay(1000);//wait 1 seconds
//Test IR Sensors
// LCD_printf("FrontIR = %3.2f\nBackIR = %3.2f\nLeftIR = %3.2f\nRightIR = %3.2f\n", ftIR,bkIR,ltIR,rtIR);
// TMRSRVC_delay(2000);//wait 2 seconds
// run the moveBehavior FSM
moveBehavior(LIGHT_LOVER);
// debug primitive behaviors
// moveAway();
// moveWall();
// moveRetreat();
// moveTrackLight();
// moveWander();
}
}// end the CBOT_main()
float4 __CGsampler1DARRAY_state::linear(const __CGimage &image, float4 strq)
{
int2 u;
int1 v;
float4 tex2[2];
float s;
u = wrapLinear(wrapS, image.borderlessSize.x, strq.s, s);
v = wrapNearest(GL_CLAMP_TO_EDGE, image.borderlessSize.y, strq.t + 0.5);
// Fetch 2 texels
for (int i=0; i<2; i++) {
float4 texel = image.fetch(u[i], v, 0, clampedBorderValues);
tex2[i] = prefilter(texel, strq.p);
}
return linear1D(tex2, frac(float1(s) - 0.5f));
}
void prefilterenvmap(float* envpixels, int width, int height, float* thecoeffs) {
int count = 0;
for (int i = 0 ; i < height ; i++) {
for (int j = 0 ; j < width ; j++) {
for (int k = 0 ; k < 3 ; k++) {
hdr[i][j][k] = envpixels[count];
count++;
}
}
}
prefilter(width, height); //calculate the L coeffs
int counter = 0;
for (int i = 0; i < 9; ++i) { //copy the coeffs into a 27 float array
for (int j = 0; j < 3; ++j) {
thecoeffs[counter] = coeffs[i][j];
counter++;
}
}
}
