void DreamWebEngine::newPlace() {
if (_vars._needToTravel == 1) {
_vars._needToTravel = 0;
selectLocation();
} else if (_autoLocation != 0xFF) {
_newLocation = _autoLocation;
_autoLocation = 0xFF;
}
}
task main()
{
int elevatorHeightTicks;
// Set the following variables to false to hide the standard NXT LCD information
bDisplayDiagnostics = false;
bNxtLCDStatusDisplay = false;
////////// INITIALIZATIONS //////////
initializeRobot(); // Execute robot initialization routine
/////////////// Variables to be used later /////////////////
//int maxArmHeightTicks = inchesToTicks(maxArmHeight);
//int minRingPickupHeightTicks = inchesToTicks(minRingPickupHeight);
//int WAMservoStep = 3; //Amount to inc1rement the WAM servo position
//int WAMservoStep12 = 17; // Move a servo 15 degrees
//float maxArmHeight = 45.25; // Maximum Safe Arm Height used during manual control of the arm
//float minRingPickupHeight = 8.0;
// User selected Autonomous information
{
selectStartLocation(); // Get the starting location of the robot
selectAutoActions(); // Get Autononmous actions
switch(AutoActions)
{
case 0: // No Autonomous
break;
case 1: // IR Beacon
selectRow(); // runs the select row function
selectAutoStartDelay(); // select the autonomous start delay
break;
case 2: // Left Colmnn
selectRow(); // runs the select row function
selectAutoStartDelay(); // select the autonomous start delay
break;
case 3: // Center Colmnn
selectRow(); // runs the select row function
selectAutoStartDelay(); // select the autonomous start delay
break;
case 4: // Right Colmnn
selectRow(); // runs the select row function
selectAutoStartDelay(); // select the autonomous start delay
break;
case 5: // Play Defense
selectAutoStartDelay(); // select the autonomous start delay
break;
default: // Not a valid selection
eraseDisplay();
nxtDisplayCenteredTextLine(1,"DITU SAYS");
nxtDisplayCenteredTextLine(2,"INPUT ERROR");
nxtDisplayCenteredTextLine(4,"TRY AGAIN");
wait1Msec(6000);
break;
}
}
eraseDisplay();
// Set the following variables to false to hide the standard NXT LCD information
// Show the default FTC Display Information
bDisplayDiagnostics = true;
bNxtLCDStatusDisplay = true;
//bDisplayDiagnostics = false;
//bNxtLCDStatusDisplay = false;
// Determine the autonomous start delay based on delayAutoStart
switch(delayAutoStart)
{
case 0: // delay start = 0 seconds
delayAutoStartValue = 0;
break;
case 1: // delay start = 1 second
delayAutoStartValue = 1000;
break;
case 2: // delay start = 5 seconds
delayAutoStartValue = 5000;
break;
case 3: // delay start = 10 seconds
delayAutoStartValue = 10000;
break;
case 5: // delay start = 15 seconds
delayAutoStartValue = 15000;
break;
default: // delay start = 0 seconds
delayAutoStartValue = 0;
break;
}
// Process robot starting location selection
switch(robotStartLocation)
{
case 0: // Left Wall
leftWall = true;
break;
case 1: // Corner
corner = true;
break;
case 2: // Right Wall
rightWall = true;
break;
default: // Not a valid starting location
break;
}
// Process robot starting location selection
switch(Row)
{
case 0: // Bottom Row
pegHeightCmd = 1;
break;
case 1: // Middle Row
pegHeightCmd = 2;
break;
case 2: // Top Row
pegHeightCmd = 3;
break;
default: // Not a valid starting location
break;
}
waitForStart(); // Wait for the signal to start from the Field Control System
//reads the protoboard to see which switches are pressed. Since they are globals, nothing is returned. We may want to make this it's own task eventually
ProcessProto();
switch(AutoActions)
{
case 0: // No Autonomous
break;
case 1: // Score Ring on the column designated by the IR Beacon
wait1Msec(delayAutoStartValue);
// INSERT CODE TO IDENTIFY THE COLUMN CONTAINING THE IR BEACON HERE
elevatorHeightTicks = selectLocation(5); // Determine the number of encoder ticks to raise the elevator to the drive height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height
wait1Msec(500);
// Insert robot move commands here
// Now that the robot is in the scoring location, raise the elevator to the commanded row
elevatorHeightTicks = selectLocation(pegHeightCmd); // Determine the number of encoder ticks based on the commanded elevator height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height to score a ring
wait1Msec(500);
elevatorHeightTicks = selectLocation(4); // Determine the number of encoder ticks to lower the elevator and score the ring
elevatorGoToHeight(elevatorHeightTicks); // Score Ring
break;
case 2: // Score Ring on Left Column
wait1Msec(delayAutoStartValue);
elevatorHeightTicks = selectLocation(5); // Determine the number of encoder ticks to raise the elevator to the drive height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height
wait1Msec(500);
// Insert robot move commands here
// Now that the robot is in the scoring location, raise the elevator to the commanded row
elevatorHeightTicks = selectLocation(pegHeightCmd); // Determine the number of encoder ticks based on the commanded elevator height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height to score a ring
wait1Msec(500);
elevatorHeightTicks = selectLocation(4); // Determine the number of encoder ticks to lower the elevator and score the ring
elevatorGoToHeight(elevatorHeightTicks); // Score Ring
break;
case 3: // Score Ring on Center Column
wait1Msec(delayAutoStartValue);
elevatorHeightTicks = selectLocation(5); // Determine the number of encoder ticks to raise the elevator to the drive height
tripped = elevatorGoToHeightFailSafe(elevatorHeightTicks, 10000); // Raise elevator to the commanded height
if (tripped) //If the elevator trips the fail safe, break
break;
wait1Msec(500);
move_forward(60-5, 5000, 90, 90);
/////The alignment from the wall that could work.../////
//move_forward(24, 4000, 80, 80);
//turngyro_left(45, 60, 60);
//move_forward(4, 2000, 80, 80);
RAM_down();
// Drive forward until the RAM limit switch is activated or time expires
ClearTimer(T1);
while(ramLimit==0 && time1[T1] < 2500)
{
// Try to follow the white navigation tape
if(SensorValue(colorSensorVal) >= 15)
{
// The color sensor sees the black platform, command the robot to drift to the right
motor[Left1] = 35;
motor[Left2] = 35;
motor[Right1] = 15;
motor[Right2] = 15;
}
else
{ // The color sensor sees the white navigation tape, command the robot to drift to the left
motor[Left1] = 15;
motor[Left2] = 15;
motor[Right1] = 35;
motor[Right2] = 35;
}
ProcessProto();
}
ClearTimer(T1);
while(time1[T1] < 1500)
{
motor[Left1] = -25;
motor[Left2] = -25;
motor[Right1] = 25;
motor[Right2] = 25;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}
ClearTimer(T1);
while(time1[T1] < 1500)
{
motor[Left1] = 20;
motor[Left2] = 20;
motor[Right1] = -20;
motor[Right2] = -20;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}
ClearTimer(T1);
while(time1[T1] < 1500)
{
motor[Left1] = 25;
motor[Left2] = 25;
motor[Right1] = 25;
motor[Right2] = 25;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}
/*ClearTimer(T1);
while(time1[T1] < 200)
{
motor[Left1] = -20;
motor[Left2] = -20;
motor[Right1] = -20;
motor[Right2] = -20;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}*/
motor[RAMright] = 0;
motor[RAMleft] = 0;
motor[Left1] = 0;
motor[Left2] = 0;
motor[Right1] = 0;
motor[Right2] = 0;
// Now that the robot is in the scoring location, raise the elevator to the commanded row
elevatorHeightTicks = selectLocation(pegHeightCmd); // Determine the number of encoder ticks based on the commanded elevator height
elevatorGoToHeightFailSafe(elevatorHeightTicks, 7000); // Raise elevator to the commanded height to score a ring
if (tripped) //If the elevator trips the fail safe, break
break;
wait1Msec(500);
elevatorHeightTicks = selectLocation(4); // Determine the number of encoder ticks to lower the elevator and score the ring
elevatorGoToHeightFailSafe(elevatorHeightTicks, 7000); // Score Ring
if (tripped) //If the elevator trips the fail safe, break
break;
break;
case 4: // Score Ring on Right Column
wait1Msec(delayAutoStartValue);
elevatorHeightTicks = selectLocation(5); // Determine the number of encoder ticks to raise the elevator to the drive height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height
wait1Msec(500);
// Insert robot move commands here
//asdfjkl;
wait1Msec(500);
move_forward(12, 5000, 90, 90);
turngyro_right(45, 100);
move_forward(20, 7000, 80, 80);
//RAM_down();
motor[Right1] = 0;
motor[Right2] = 0;
motor[Left1] = 0;
motor[Left2] = 0;
/*
// Drive forward until the RAM limit switch is activated or time expires
ClearTimer(T1);
while(ramLimit==0 && time1[T1] < 2500)
{
// Try to follow the white navigation tape
if(SensorValue(colorSensorVal) >= 15)
{
// The color sensor sees the black platform, command the robot to drift to the right
motor[Left1] = 35;
motor[Left2] = 35;
motor[Right1] = 15;
motor[Right2] = 15;
}
else
{ // The color sensor sees the white navigation tape, command the robot to drift to the left
motor[Left1] = 15;
motor[Left2] = 15;
motor[Right1] = 35;
motor[Right2] = 35;
}
ProcessProto();
}
ClearTimer(T1);
while(time1[T1] < 1500)
{
motor[Left1] = -25;
motor[Left2] = -25;
motor[Right1] = 25;
motor[Right2] = 25;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}
ClearTimer(T1);
while(time1[T1] < 1500)
{
motor[Left1] = 20;
motor[Left2] = 20;
motor[Right1] = -20;
motor[Right2] = -20;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}
ClearTimer(T1);
while(time1[T1] < 1500)
{
motor[Left1] = 25;
motor[Left2] = 25;
motor[Right1] = 25;
motor[Right2] = 25;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}
/*ClearTimer(T1);
while(time1[T1] < 200)
{
motor[Left1] = -20;
motor[Left2] = -20;
motor[Right1] = -20;
motor[Right2] = -20;
motor[RAMright] = 95;
motor[RAMleft] = 95;
}*/
/*
motor[RAMright] = 0;
motor[RAMleft] = 0;
motor[Left1] = 0;
motor[Left2] = 0;
motor[Right1] = 0;
motor[Right2] = 0;
// Now that the robot is in the scoring location, raise the elevator to the commanded row
elevatorHeightTicks = selectLocation(pegHeightCmd); // Determine the number of encoder ticks based on the commanded elevator height
elevatorGoToHeightFailSafe(elevatorHeightTicks, 7000); // Raise elevator to the commanded height to score a ring
if (tripped) //If the elevator trips the fail safe, break
break;
wait1Msec(500);
elevatorHeightTicks = selectLocation(4); // Determine the number of encoder ticks to lower the elevator and score the ring
elevatorGoToHeightFailSafe(elevatorHeightTicks, 7000); // Score Ring
if (tripped) //If the elevator trips the fail safe, break
break;
break;
// Now that the robot is in the scoring location, raise the elevator to the commanded row
/*elevatorHeightTicks = selectLocation(pegHeightCmd); // Determine the number of encoder ticks based on the commanded elevator height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height to score a ring
wait1Msec(500);
elevatorHeightTicks = selectLocation(4); // Determine the number of encoder ticks to lower the elevator and score the ring
elevatorGoToHeight(elevatorHeightTicks); // Score Ring
break;*/
case 5: // Play Defense
wait1Msec(delayAutoStartValue);
elevatorHeightTicks = selectLocation(5); // Determine the number of encoder ticks to raise the elevator to the drive height
elevatorGoToHeight(elevatorHeightTicks); // Raise elevator to the commanded height
//wait1Msec(500);
move_backwards(84.0, 10000, 100, 100);
break;
default: // Not a valid autonomous action
break;
}
// All Done, time to stop all tasks
StopAllTasks();
} // End Main Bracket
int main (int argc, char **argv)
{
if (argc < 2) {
fprintf(stderr, "usage: webclient URL\n");
return EXIT_FAILURE;
}
char msg[BUFFER_LEN];
int vsocket;
tUrl url = decodeUrl(argv[1]);
if (url.status != SUCCESS) {
fprintf(stderr, "Wrong format of URL.\n");
return EXIT_FAILURE;
}
char filename[BUFFER_LEN];
char filechar[BUFFER_LEN];
exctractFileName(url.path, filechar);
strcpy(filename, filechar);
codeUnsafeChar(url.domain);
codeUnsafeChar(url.path);
createRequest(msg, url);
if (connectToServer(url, &vsocket) == FAILED) {
fprintf(stderr, "Failed: connect to server\n");
return EXIT_FAILURE;
}
if (write(vsocket, msg, strlen(msg)) == FAILED) {
fprintf(stderr, "Failed: write request\n");
return EXIT_FAILURE;
}
char answer[BUFFER_LEN];
if (readHeader(vsocket, answer) == FAILED) {
fprintf(stderr, "Failed: read header\n");
return EXIT_FAILURE;
}
int enconding = selectEnconding(answer);
tConn connection;
connection = selectStatus(answer);
if (connection.status >= 400) {
fprintf(stderr, "%d\n",connection.status);
return EXIT_FAILURE;
}
char msg_redir[BUFFER_LEN];
int connect_try = 1;
tUrl url_redir;
// Redirection
while (connection.status == 301 || connection.status == 302) {
if (selectLocation(answer, msg_redir) == FAILED) {
fprintf(stderr, "Failed: redirection\n");
return EXIT_FAILURE;
}
url_redir = decodeUrl(msg_redir);
if (url_redir.status != SUCCESS) {
fprintf(stderr, "Failed: decode URL (redirection %d)\n",connect_try);
return EXIT_FAILURE;
}
exctractFileName(url_redir.path, filename);
codeUnsafeChar(url_redir.domain);
codeUnsafeChar(url_redir.path);
createRequest(msg_redir, url_redir);
if (connectToServer(url_redir, &vsocket) == FAILED) {
fprintf(stderr, "Failed: connect to server\n");
return EXIT_FAILURE;
}
if (write(vsocket, msg_redir, strlen(msg_redir)) == FAILED) {
fprintf(stderr, "Failed: write request (redirection %d)\n",connect_try);
return EXIT_FAILURE;
}
if (readHeader(vsocket, answer) == FAILED) {
fprintf(stderr, "Failed: read header\n");
return EXIT_FAILURE;
}
enconding = selectEnconding(answer);
connection = selectStatus(answer);
if (connection.status == FAILED) {
fprintf(stderr, "%s\n", connection.message);
return EXIT_FAILURE;
}
if (connection.status >= 400) {
fprintf(stderr, "%d\n",connection.status);
return EXIT_FAILURE;
}
connect_try++;
if (connect_try > 5) {
fprintf(stderr, "Multiple (5) redirection.");
return EXIT_FAILURE;
}
}
FILE *fw;
remove(filename);
if ((fw = fopen(filename,"a")) == NULL) {
fprintf(stderr, "Failed: open dest file\n");
return EXIT_FAILURE;
}
// Non-chunked coding
if (enconding != CHUNKED) {
char ch;
while (read(vsocket, &ch, sizeof(char)) > 0)
fprintf(fw,"%c",ch);
fclose(fw);
return SUCCESS;
}
// Chunked coding
char chr1 = '#';
char chr2 = '#';
int i = 0;
int chunk = 0;
char ch[BUFFER_LEN];
while (read(vsocket, &chr2, sizeof(char)) > 0) {
ch[i] = chr2;
i++;
if (chr1 == '\r' && chr2 == '\n') {
ch[i-2] = '\0';
chunk = (int) strtol(ch, NULL, 16);
i = 0;
break;
}
chr1 = chr2;
}
int w = chunk;
char p;
while (w > 0) {
if (read(vsocket, &p, sizeof(char)) == FAILED) {
fprintf(stderr, "Failed: read data\n");
return EXIT_FAILURE;
}
w--;
fprintf(fw, "%c", p);
}
char ch1 = '#', ch2 = '#';
chunk = -1;
char chr[BUFFER_LEN];
int n = 0;
while (chunk != 0) {
if (read(vsocket, &ch2, sizeof(char)) == FAILED) {
fprintf(stderr, "Failed: read chunk or \\r\\n\n");
return EXIT_FAILURE;
}
if (ch1 == '\r' && ch2 == '\n') {
while (ch2 != '\r') {
if (read(vsocket, &ch2, sizeof(char)) == FAILED) {
fprintf(stderr, "Failed: read chunk\n");
return EXIT_FAILURE;
}
chr[i] = ch2;
i++;
}
ch1 = ch2;
chr[i] = '\0';
i = 0;
if (read(vsocket, &ch2, sizeof(char)) == FAILED) {
fprintf(stderr, "Failed: read chunked data\n");
return EXIT_FAILURE;
}
if (ch1 == '\r' && ch2 == '\n') {
chunk = (int) strtol(chr, NULL, 16);
if (chunk == 0)
break;
n = chunk;
while (n > 0) {
if (read(vsocket, &p, sizeof(char)) == FAILED) {
fprintf(stderr, "Failed: read chunked data\n");
return EXIT_FAILURE;
}
n--;
fprintf(fw, "%c", p);
}
ch2 = '#';
}
}
ch1 = ch2;
}
fclose(fw);
return EXIT_SUCCESS;
}
