// Run the IHK line
void runLine(){
LCDClear();
static const uint8_t forwardDirection = 0;
// Start speed, current speed.
uint8_t currentSpeed = SPEED_CREEP;
setDirectionMotorL(forwardDirection);
setDirectionMotorR(forwardDirection);
// Run until end of track.
while(stopFlag == FLAG_NOT_SET)
{
if(getSensorUpdateFlag())
{
// When a line is lost after driving straight, go in search mode
if(lostLineFlag == FLAG_SET)
{
searchMode();
lostLineFlag = FLAG_NOT_SET;
}
// When line is found, make a Right turn
// Increase speed and follow the line.
if(foundLineFlag == FLAG_SET)
{
go(150,DIRECTION_RIGHT,SPEED_CREEP);
setDirectionMotorL(forwardDirection);
setDirectionMotorR(forwardDirection);
currentSpeed = SPEED_CREEP;
foundLineFlag = FLAG_USED;
}
// When following the line,
// if front sensor detects obstacle,
// exit line following loop
if (foundLineFlag == FLAG_USED)
{
uint16_t distance = AdcConvert(1);
if (distance > (uint16_t)500)
{
setStopFlag(FLAG_SET);
}
}
// Calculate and set new duty cycle.
calcDuty(currentSpeed, calcFloorErrorAndFlagControl());
clearSensorUpdateFlag();
}
}
// Stop the robot at end mark.
setDutyCycleMotorL(0);
setDutyCycleMotorR(0);
}
void MidiDevice::handleStop()
{
// If the device is not in use by a port, don't bother it.
if(_port == -1)
return;
MidiPort* mp = &MusEGlobal::midiPorts[_port];
//---------------------------------------------------
// send midi stop
//---------------------------------------------------
// Don't send if external sync is on. The master, and our sync routing system will take care of that.
if(!MusEGlobal::extSyncFlag.value())
{
// Shall we check open flags? DELETETHIS 4?
//if(!(dev->rwFlags() & 0x1) || !(dev->openFlags() & 1))
//if(!(dev->openFlags() & 1))
// return;
MidiSyncInfo& si = mp->syncInfo();
if(si.MMCOut())
mp->sendMMCStop();
if(si.MRTOut())
{
mp->sendStop();
//DELETETHIS 5?
// Added check of option send continue not start. Hmm, is this required? Seems to make other devices unhappy.
// (Could try now that this is in MidiDevice.)
//if(!si.sendContNotStart())
// mp->sendSongpos(MusEGlobal::audio->tickPos() * 4 / MusEGlobal::config.division);
}
}
//---------------------------------------------------
// Clear all notes and flush out any stuck notes
// which were put directly to the device
//---------------------------------------------------
setStopFlag(true);
for(iMPEvent i = _stuckNotes.begin(); i != _stuckNotes.end(); ++i)
{
MidiPlayEvent ev(*i);
ev.setTime(0); // Immediate processing. TODO Use curFrame?
//ev.setTime(MusEGlobal::audio->midiQueueTimeStamp(ev.time()));
putEvent(ev, MidiDevice::NotLate);
}
_stuckNotes.clear();
//------------------------------------------------------------
// Flush out any track-related playback stuck notes (NOT 'live' notes)
// which were not put directly to the device
//------------------------------------------------------------
for(ciMidiTrack imt = MusEGlobal::song->midis()->begin(); imt != MusEGlobal::song->midis()->end(); ++imt)
{
MPEventList& mel = (*imt)->stuckNotes;
for(iMPEvent i = mel.begin(), i_next = i; i != mel.end(); i = i_next)
{
++i_next;
if((*i).port() != _port)
continue;
MidiPlayEvent ev(*i);
ev.setTime(0); // Immediate processing. TODO Use curFrame?
//ev.setTime(MusEGlobal::audio->midiQueueTimeStamp(ev.time()));
putEvent(ev, MidiDevice::NotLate);
mel.erase(i);
}
}
//---------------------------------------------------
// reset sustain
//---------------------------------------------------
for(int ch = 0; ch < MusECore::MUSE_MIDI_CHANNELS; ++ch)
{
if(mp->hwCtrlState(ch, CTRL_SUSTAIN) == 127)
{
MidiPlayEvent ev(0, _port, ch, ME_CONTROLLER, CTRL_SUSTAIN, 0); // Immediate processing. TODO Use curFrame?
//ev.setTime(MusEGlobal::audio->midiQueueTimeStamp(ev.time()));
putEvent(ev, MidiDevice::NotLate);
}
}
}
