void OnConnect(Client *c) {
World world = World(500, 500);
Robot* r1 = makeRobot(40, 40, Point(100.0f, 200.0f), &world);
Robot* r2 = makeRobot(40, 40, Point(200.0f, 200.0f), &world);
world.Add(r1);
world.Add(r2);
c->sendSelfInfo();
c->sendEnemyInfo(20);
c->sendGameInfo(&world);
c->notifyStart();
int sleepPeriod = 20;
r1->Execute("MOV", "120.0");
r1->Execute("FR", "");
r1->Execute("ROT", "-0.75");
//r2->Execute("FR", "");
for(int i = 0; i < 26; i++)
doLoobBody(world, c, sleepPeriod);
//r1->Execute("FR", "");
//r2->Execute("FR", "");
while(true)
doLoobBody(world, c, sleepPeriod);
}
void Robot_func(){
// Translate and ROtatae !
// -- >
glPushMatrix();
// glRotatef(robot_rot,0,robot_y,0);
makeRobot();
glPopMatrix();
}
int main(int argc, char **argv)
{
if(!sPort.Open("/dev/ttyUSB0", 57600))
{
perror("Could not Open Serial Port s0 :");
exit(0);
}
int angle[4];
Leg_Config leg[4];
int num_packets,t;
// char ch = argv[1][0];
// sPort.WriteByte(ch);
int pre;
scanf("%d",&num_packets);
for (int k = 0; k < num_packets; k++)
{
scanf("%d",&pre);
if(pre == 170)
{
for(int i=0;i<4;i++)
{
for(int j=0;j<4;j++)
{
if(j==0)
{
scanf("%d",&t);
angle[j] = mat[i][t+2];
}
else scanf("%d",&angle[j]);
}
leg[i] = makeLeg(angle[0],angle[1],angle[2],angle[3]);
}
Robot_Config myRobot = makeRobot(leg[0],leg[1],leg[2],leg[3]);
sendCommand(myRobot, pre);
}
if(pre ==187)
{
char ch;
scanf(" %c",&ch);
//printf("%c", ch);
//ch = 'w';
sendRollCommand(ch,pre);
}
usleep(1000000);
}
//Leg_Config leg1 = getDogGaitTheta(113.9725, -113.9398, 0);
//printf("%d %d %d %d\n",leg1.theta[0],leg1.theta[1],leg1.theta[2], leg1.theta[3]);
return 0;
}
