int render::execute() {
if (play)
updateSounds();
checkBalls();
draw();
SDL_GL_SwapWindow(mainwindow);
if (checkKeys() < 0)
return -1;
return 0;
}
// catch balls:
void catchBalls(int color){
enable_servo(ASV);
enable_servo(SSV);
set_servo_position(ASV,700);
set_servo_position(SSV,200);
msleep(500);
camera_open();
camera_update();
while(get_object_center_column(color,0) != OFFSET_X){
while(get_object_center_column(color,0) > OFFSET_X){
motor(LM,10);
motor(RM,-10);
camera_update();
}
motor(LM,-10);
motor(RM,10);
camera_update();
}
while(get_object_center_row(color,0) != OFFSET_Y){
while(get_object_center_row(color,0) > OFFSET_Y){
motor(LM,-10);
motor(RM,-10);
camera_update();
}
motor(LM,10);
motor(RM,10);
camera_update();
}
set_servo_position(ASV,1900);
msleep(1500);
set_servo_position(ASV,1700);
msleep(500);
camera_update();
if( checkBalls(GREEN) == 0 ){
set_servo_position(SSV,180);
msleep(300);
set_servo_position(SSV,0);
}else{
set_servo_position(ASV,0);
}
}
