/*
* main
* main function of the robot
*/
task main(){
initFlags();
initClamp();
initHitch();
startTask(task_run_drivemode);
while(true){
//Check if we should drive with slow sleeds.
slow_multiplier = 1.0 - (vexRT[JOY_BTN_SLOW] * SLOW_SPEED_MULTIPLIER);
//Check if we should switch the drivemode
checkSwitchDrivemode();
checkSwitchFlagMode();
//Call the Arm control method
runArm();
//Call the Claw control method
runClamp();
//Call the Hitch control method
runHitch();
//Call the task handling method
checkRunModeTask();
}
}
rspfRefPtr<rspfImageData> rspfBandClipFilter::getTile(
const rspfIrect& rect,
rspf_uint32 resLevel)
{
if(!theInputConnection)
{
return NULL;
}
rspfRefPtr<rspfImageData> data =
theInputConnection->getTile(rect, resLevel);
if(!data.get())
{
return data;
}
rspfDataObjectStatus status = data->getDataObjectStatus();
if((status != RSPF_NULL) &&
(status != RSPF_EMPTY))
{
rspf_uint32 dw = data->getWidth();
rspf_uint32 dh = data->getHeight();
rspf_uint32 db = data->getNumberOfBands();
rspf_uint32 tw = theTile->getWidth();
rspf_uint32 th = theTile->getHeight();
rspf_uint32 tb = theTile->getNumberOfBands();
if(((tw*th)!=(dw*dh))||
(tb != db))
{
theTile = new rspfImageData(this,
RSPF_NORMALIZED_FLOAT,
db,
dw,
dh);
theTile->initialize();
}
if(getNumberOfValues() != theTile->getNumberOfBands())
{
// Should this go on??? (drb)
rspfNotify(rspfNotifyLevel_WARN)
<< "rspfBandClipFilter::getTile\n"
<< "getNumberOfValues() != theTile->getNumberOfBands"
<< endl;
}
data->copyTileToNormalizedBuffer(static_cast<float*>(theTile->getBuf()));
theTile->setDataObjectStatus(data->getDataObjectStatus());
switch(theClipType)
{
case rspfBandClipType_CLIP:
{
runClip();
break;
}
case rspfBandClipType_CLAMP:
{
runClamp();
break;
}
case rspfBandClipType_LINEAR_STRETCH:
{
runLinearStretch();
break;
}
case rspfBandClipType_MEDIAN_STRETCH:
{
runMedianStretch();
break;
}
default:
break;
}
data->copyNormalizedBufferToTile(static_cast<float*>(theTile->getBuf()));
}
return data;
}
