void PGE_QuestionBox::exec()
{
updateControllers();
restart();
while(running)
{
Uint32 start_render=SDL_GetTicks();
update(uTickf);
updateControllers();
PGE_BoxBase::render();
render();
glFlush();
PGE_Window::rePaint();
if(uTick > (signed)(SDL_GetTicks() - start_render))
SDL_Delay(uTick - (SDL_GetTicks()-start_render) );
}
}
//-----------------------------------------------------------------------------
void CCBRobot::run()
{
if ( not mFgInitialized ) {
PRT_WARN0( "Robot is not initialized, call init() first" );
return;
}
while ( mFgRunning ) {
// get data from ICreate
//printf("mLastLoopDuration %f \n",mLastLoopDuration);
if ( mCBDriver->readSensorData( mLastLoopDuration ) == 1 ) {
// update all devices
if ( mCBDrivetrain )
mCBDrivetrain->updateData( mUpdateInterval );
if ( mCBPowerPack )
mCBPowerPack->updateData( mLastLoopDuration );
if ( mCBLaser )
mCBLaser->updateData( mLastLoopDuration );
if ( mCBLights )
mCBLights->updateData( mLastLoopDuration );
if ( mCBSound )
mCBSound->updateData( mLastLoopDuration );
if ( mCBIrSensor )
mCBIrSensor->updateData( mLastLoopDuration );
if ( mCBTextDisplay )
mCBTextDisplay->updateData( mLastLoopDuration );
if ( mCBBumper )
mCBBumper->updateData( mLastLoopDuration );
if ( mCBWallSensor )
mCBWallSensor->updateData( mLastLoopDuration );
if ( mCBWheelDropSensor )
mCBWheelDropSensor->updateData( mLastLoopDuration );
if ( mCBCliffSensor )
mCBCliffSensor->updateData( mLastLoopDuration );
if ( mCBOverCurrentSensor )
mCBOverCurrentSensor->updateData( mLastLoopDuration );
if ( mCBFrontFiducial )
mCBFrontFiducial->updateData( mLastLoopDuration );
if ( mCBTopFiducial )
mCBTopFiducial->updateData( mLastLoopDuration );
if ( mCBPhotoSensor )
mCBPhotoSensor->updateData( mLastLoopDuration );
if ( mCBCreateButton )
mCBCreateButton->updateData( mLastLoopDuration );
if ( mCBVirtualWall )
mCBVirtualWall->updateData( mLastLoopDuration );
updateDevices();
// Low side drivers updateData() is empty, no need to call it here
//if ( mCBLowSideDriver )
// mCBLowSideDriver->updateData();
}
// update all registered controllers
updateControllers();
//******************************************************
// last step - keep everything in sync
synchronize( mUpdateInterval );
} // while
}
void Object::update(int deltaMs)
{
updateControllers(deltaMs);
}
task main()
{
initializeRobot();
waitForStart(); // wait for start of tele-op phase
while (true)
{
updateControllers();
//========== handle drive ==========
calculateDrive(joystick.joy1_x1, joystick.joy1_y1);
if (ControllerButtonPressed(BUTTON_LB, CONTROLLER_1)) {
driveSetPower(30);
} else if (ControllerButtonReleased(BUTTON_LB, CONTROLLER_1)) {
driveSetPower(100);
}
//========== handle lift ==========
if (ControllerButtonDown(BUTTON_X, CONTROLLER_1)) {
liftBottomPositionSafety();
} else if (ControllerButtonDown(BUTTON_Y, CONTROLLER_1)) {
liftDumpPositionSafety();
} else if (ControllerButtonDown(BUTTON_RSTICK, CONTROLLER_1)) {
liftHangPositionSafety();
} else {
liftUpSpeed(joystick.joy1_y2);
}
//========== handle bucket ==========
if (ControllerButtonPressed(BUTTON_RB, CONTROLLER_1)) {
bucketIncrementState();
} else if (ControllerButtonPressed(BUTTON_RT, CONTROLLER_1)) {
bucketDecrementState();
}
//========== handle spinner ==========
if (ControllerButtonPressed(BUTTON_START, CONTROLLER_1)) {
spinnerOut();
} else if (ControllerButtonPressed(BUTTON_BACK, CONTROLLER_1)) {
spinnerIn();
}
if (ControllerButtonPressed(BUTTON_A, CONTROLLER_1)) {
spinnerSpinCClockwise();
} else if (ControllerButtonReleased(BUTTON_A, CONTROLLER_1)) {
spinnerStop();
}
if (ControllerButtonPressed(BUTTON_B, CONTROLLER_1)) {
spinnerAlignCClockwise();
} else if (ControllerButtonReleased(BUTTON_B, CONTROLLER_1)) {
spinnerStop();
}
//========== handle PTO ==========
if (ControllerHatPressed(BUTTON_HAT_LEFT, CONTROLLER_1)) {
hangingPTOEngage();
}
if (ControllerHatPressed(BUTTON_HAT_RIGHT, CONTROLLER_1)) {
hangingPTODisengage();
}
if (ControllerButtonPressed(BUTTON_LT, CONTROLLER_1)) {
hangingPTOEngage();
} else if (ControllerButtonReleased(BUTTON_LT, CONTROLLER_1)) {
hangingPTODisengage();
}
//========= handle Ratchet ==========
if (ControllerHatPressed(BUTTON_HAT_UP, CONTROLLER_1)) {
hangingRatchetLock();
}
if (ControllerHatPressed(BUTTON_HAT_DOWN, CONTROLLER_1)) {
hangingRatchetUnlock();
}
//========== debug beep ==========
if (ControllerButtonDown(BUTTON_LSTICK, CONTROLLER_1)) {
PlayImmediateTone(4186, 1);
}
//========== EMERGENCY BACKUP FUNCTIONS!!! ==========
//dump block in flipper
if (ControllerButtonPressed(BUTTON_B, CONTROLLER_2)) {
flipperDump();
} else if (ControllerButtonReleased(BUTTON_B, CONTROLLER_2)) {
flipperStorage();
}
//trim bucket positions
if (ControllerButtonPressed(BUTTON_RB, CONTROLLER_2)) {
bucketTrimUp();
} else if (ControllerButtonPressed(BUTTON_RT, CONTROLLER_2)) {
bucketTrimDown();
}
}
}
