// the starting point of the program
task main()
{
// prompt the user for a delay at the start of autonomous
selectTime();
// prompt whether the robot should wait for FCS to start
// They can disable it when testing the program at practice.
startSelect();
// wait for FCS to start if the user has chosen to
if(waitSelected)
{
waitForStart();
}
// perform the aforementioned delay
wait1Msec(1000*waitTime);
//holds which beacon the robot is at
int beacon = 0;
//holds the IR sensor value
int i = 0;
//loops until the sensor finds the beacon or until it gets to the final beacon.
while(i != 5 && beacon < 4)
{
i=0;
//this section prevents the reading of random IR values and makes sure the value is constant.
//when the value is the constant we want, the beacon is in front of the sensor.
for(int a = 0; a <100; a++)
{
if(a == 0)
{
//gets original ir value
i = SensorValue[IR];
}
else
{
int b = SensorValue[IR];
if(b != i)
{
//if a different value is sensed, then the original value was not constant; thus, we restart the checking
//to try and gete a constant value.
i = 0;
a = 0;
}
}
}
if(i != 5)
{
if(beacon == 0)
{
//the distance to get to the first beacon
ModForward(2200,35);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(1000);
}
else if(beacon == 1)
{
//the distance to get to the second beacon
ModForward(900,35);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(1000);
}
else if(beacon == 2)
{
//the distance to get to the third beacon
ModForward(1600,35);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(1000);
}
else if(beacon == 3)
{
//the distance to get to the fourth beacon
ModForward(1000,35);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(1000);
}
beacon++;
}
}
//code that runs after we stop in front of a beacon.
servo[AutoHook] = 255; //dispenses the cube
wait1Msec(900);
servo[AutoHook] = 0;
wait1Msec(1000);
//pick where to go based on beacon #.
//if the robot is at rings 1 or 4, it turns, goes back, then turns to face the ramp.
//if the robots is at rings 2 or 3, it goes backwards, turns, goes backwards again, and then turns to face the ramp.
if(beacon == 1) //beacon was on first box
{
//goes forward from the box
ModForward(5200,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns to be parallel to the ramp
ModTurn(2040, 100, right);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes backwards and towards the ramp
ModBackward(4000,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns towards the ramp
ModTurn(2100,100,left);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes onto the ramp
ModBackward(4500,80);
}
else if (beacon == 2) //beacon was on second box
{
//goes forward from the box
ModForward(4300,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns to be parallel to the ramp
ModTurn(2040, 100, right);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes backwards and towards the ramp
ModBackward(4000,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns towards the ramp
ModTurn(2100,100,left);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes onto the ramp
ModBackward(4500,80);
}
else if (beacon == 3) //beacon was on third box
{
//goes forward from the box
ModForward(2700,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns to be parallel to the ramp
ModTurn(2040, 100, right);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes backwards and towards the ramp
ModBackward(4000,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns towards the ramp
ModTurn(2100,100,left);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes onto the ramp
ModBackward(4500,80);
}
else if (beacon == 4) //beacon was on fourth ring
{
//goes forward from the box
ModForward(1560,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns to be parallel to the ramp
ModTurn(1940, 100, right);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes backwards and towards the ramp
ModBackward(4000,50);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//turns towards the ramp
ModTurn(2100,100,left);
motor[Right] = 0;
motor[Left] = 0;
wait1Msec(500);
//goes onto the ramp
ModBackward(4500,100);
}
}
task main()
{
selectTime();
startSelect();
while(true)
{
counter();
if(programCounter == 1)
{
nxtDisplayCenteredTextLine(2, "Regular Autonomous");
if(nNxtButtonPressed == 3)
{
PlaySound(soundBlip);
if(waitSelected){waitForStart();}
wait1Msec(waitTime*1000);
Auto_Encoder();
wait1Msec(500);
}
}
else if(programCounter == 2)
{
nxtDisplayCenteredTextLine(2, "FA to FR");
if(nNxtButtonPressed == 3)
{
PlaySound(soundBlip);
if(waitSelected){waitForStart();}
wait1Msec(waitTime*1000);
Auto_Front_Ramp();
wait1Msec(500);
}
}
else if(programCounter == 3)
{
nxtDisplayCenteredTextLine(2, "FA to BR");
if(nNxtButtonPressed == 3)
{
PlaySound(soundBlip);
if(waitSelected){waitForStart();}
wait1Msec(waitTime*1000);
Auto_Back_Ramp();
wait1Msec(500);
}
}
else if(programCounter == 4)
{
nxtDisplayCenteredTextLine(2, "Hardcoded Autonomous()");
if(nNxtButtonPressed == 3)
{
PlaySound(soundBlip);
Hardcoded_Autonomous();
if(waitSelected){waitForStart();}
wait1Msec(waitTime*1000);
wait1Msec(500);
}
}
else if(programCounter == 5)
{
nxtDisplayCenteredTextLine(2, "Hardcoded Reverse");
if(nNxtButtonPressed == 3)
{
PlaySound(soundBlip);
if(waitSelected){waitForStart();}
wait1Msec(waitTime * 1000);
Hardcoded_Reverse();
wait1Msec(500);
}
}
//else if(programCounter == 5)
//{
// nxtDisplayCenteredTextLine(2, "Reverse Autonomous");
// if(nNxtButtonPressed == 3)
// {
// PlaySound(soundBlip);
// if(waitSelected){waitForStart();}
// wait1Msec(waitTime*1000);
// Reverse_Autonomous();
// wait1Msec(500);
// }
//}
//else if(programCounter == 6)
//{
// nxtDisplayCenteredTextLine(2, "RA to FR");
// if(nNxtButtonPressed == 3)
// {
// PlaySound(soundBlip);
// if(waitSelected){waitForStart();}
// wait1Msec(waitTime*1000);
// Reverse_Auto_Front_Ramp();
// wait1Msec(500);
// }
//}
//else if(programCounter == 7)
//{
// nxtDisplayCenteredTextLine(2, "RA to BR");
// if(nNxtButtonPressed == 3)
// {
// PlaySound(soundBlip);
// if(waitSelected) {waitForStart();}
// wait1Msec(waitTime * 1000);
// Reverse_Auto_Back_Ramp();
// wait1Msec(500);
// }
//}
}
}
int main()
{
srand(time(0));
ResourceHolder<sf::Font, Fonts::ID> fonts;
ResourceHolder<sf::Texture, Textures::ID> textures;
//ResourceHolder<sf::SoundBuffer, Sounds::ID> sounds;
try
{
fonts.load(Fonts::WhiteRabbit, "Assets/whiterabbit.ttf");
textures.load(Textures::Buttons, "Assets/buttons.png");
textures.load(Textures::Timtam, "Assets/cmcquiz.png");
}
catch(std::runtime_error &e)
{
//would be better off using a log file for release code.
return 1;
}
Window mainWindow(sf::Vector2f(800, 600), "Soft Eng Game");
Button mainPlayButton(textures.get(Textures::Buttons), sf::Vector2f(250, 75), sf::Vector2f(25, 500),
sf::IntRect(0, 0, 250, 75), sf::IntRect(0, 75, 250, 75));
Button mainQuitButton(textures.get(Textures::Buttons), sf::Vector2f(250, 75), sf::Vector2f(525, 500),
sf::IntRect(0, 150, 250, 75), sf::IntRect(0, 225, 250, 75));
//QuizSelect stuff
Button quizMenuContinue(textures.get(Textures::Buttons), sf::Vector2f(250, 75), sf::Vector2f(250, 500),
sf::IntRect(0, 300, 250, 75), sf::IntRect(0, 375, 250, 75));
sf::Text selectQuiz("Select Quiz", fonts.get(Fonts::WhiteRabbit), 24);
selectQuiz.setPosition(150, 150);
sf::Text selectTime("Select Time", fonts.get(Fonts::WhiteRabbit), 24);
selectTime.setPosition(500, 150);
std::vector<QuestionButton> quizButtons;
std::vector<std::string> quizFilenames;
Util::getFilenamesInDir(quizFilenames, "Quizes");
for(int i = 0; i < quizFilenames.size(); i++)
{
quizButtons.push_back(QuestionButton(quizFilenames[i], fonts.get(Fonts::WhiteRabbit), 24, sf::Vector2f(200, 100), sf::Vector2f(100, 200 +( i * 100)), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
}
std::vector<QuestionButton> timerButtons;
timerButtons.push_back(QuestionButton("15", fonts.get(Fonts::WhiteRabbit), 48, sf::Vector2f(200, 100), sf::Vector2f(500, 200), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
timerButtons.push_back(QuestionButton("25", fonts.get(Fonts::WhiteRabbit), 48, sf::Vector2f(200, 100), sf::Vector2f(500, 300), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
timerButtons.push_back(QuestionButton("35", fonts.get(Fonts::WhiteRabbit), 48, sf::Vector2f(200, 100), sf::Vector2f(500, 400), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
//EndMenu Stuff
Button endRetry(textures.get(Textures::Buttons), sf::Vector2f(250, 75), sf::Vector2f(25, 500),
sf::IntRect(0, 450, 250, 75), sf::IntRect(0, 525, 250, 75));
Button endQuit(textures.get(Textures::Buttons), sf::Vector2f(250, 75), sf::Vector2f(525, 500),
sf::IntRect(0, 150, 250, 75), sf::IntRect(0, 225, 250, 75));
sf::Vector2f endLogoPos(100, 0);
std::vector<QuestionButton> endAnswers;
endAnswers.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 24, sf::Vector2f(640, 120), sf::Vector2f(80, 120), sf::Color(116, 40, 148, 255), sf::Color(116, 40, 148, 255)));
endAnswers.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 24, sf::Vector2f(640, 120), sf::Vector2f(80, 250), sf::Color::Green, sf::Color::Green));
endAnswers.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 24, sf::Vector2f(640, 120), sf::Vector2f(80, 380), sf::Color::Red, sf::Color::Red));
//MAIN MENU
Menu startMenu(mainWindow.getWindow(), mainPlayButton, mainQuitButton, 10, 20, 15, 45, textures.get(Textures::Timtam),
sf::Vector2f(75, 200));
bool play = startMenu.run();
while(play)
{
play = false;
//quiz reader, gets a list of quizes from a dir and displays them.
//pick one and return with that number.
//pick a filename / quiz file.
std::string quizFile;
//QUIZ CHOICE AND TIMER MENU
QuizMenu quizMenu(mainWindow.getWindow(), quizMenuContinue, selectQuiz, selectTime, quizButtons, timerButtons,
textures.get(Textures::Timtam), sf::Vector2f(100, 0));
int timeToAns = 0;
timeToAns = quizMenu.run(quizFile);
//use the quiz at that index.
if(timeToAns == 15 || timeToAns == 25 || timeToAns == 35)
{
//get the list of Q's
Quiz quiz = Util::getQuiz("Quizes/" + quizFile, timeToAns);
std::vector<QuestionButton> questionButtons;
questionButtons.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 18, sf::Vector2f(640, 120), sf::Vector2f(80, 210), sf::Color(116, 40, 148, 255), sf::Color(116, 40, 148, 255)));
questionButtons.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 18, sf::Vector2f(300, 120), sf::Vector2f(80, 340), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
questionButtons.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 18, sf::Vector2f(300, 120), sf::Vector2f(80, 470), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
questionButtons.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 18, sf::Vector2f(300, 120), sf::Vector2f(420, 340), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
questionButtons.push_back(QuestionButton("", fonts.get(Fonts::WhiteRabbit), 18, sf::Vector2f(300, 120), sf::Vector2f(420, 470), sf::Color(116, 40, 148, 255), sf::Color(181, 103, 214, 255)));
std::vector<AnswerCombo> answers;
Game game(&mainWindow.getWindow(), quiz, questionButtons,
sf::Sprite(textures.get(Textures::Timtam),
sf::IntRect(0, 0, textures.get(Textures::Timtam).getSize().x, textures.get(Textures::Timtam).getSize().y)),
fonts.get(Fonts::WhiteRabbit),
32,
sf::Color::Black);
answers = game.run();
if(answers.size() > 0)
{
//takes in answers.
EndMenu endMenu(&mainWindow.getWindow(), endRetry, endQuit, textures.get(Textures::Timtam), endLogoPos,
answers, endAnswers);
play = endMenu.run();
}
}
}
return 0;
}
