void Camera::moveKeyboard()
{
// you may change key controls for the interactive
// camera controls here, make sure you document your changes
// in your README file
if (Fl::event_key('w'))
moveForward(+0.05);
if (Fl::event_key('s'))
moveForward(-0.05);
if (Fl::event_key('a'))
moveSideways(-0.05);
if (Fl::event_key('d'))
moveSideways(+0.05);
if (Fl::event_key(FL_Up))
moveVertical(+0.05);
if (Fl::event_key(FL_Down))
moveVertical(-0.05);
if (Fl::event_key(FL_Left))
rotateYaw(+0.05);
if (Fl::event_key(FL_Right))
rotateYaw(-0.05);
if (Fl::event_key(FL_Page_Up))
rotatePitch(+0.05);
if (Fl::event_key(FL_Page_Down))
rotatePitch(-0.05);
}
task main()
{
direction_t dir;
initializeRobot();
// Wait for the beginning of autonomous phase.
waitForStart();
servo[IRServo] = IRUP;
// Move forward a predetermined amount.
moveForwardToWhiteLine(38);
// Move until the robot is entirely on the platform
moveForward(4, 50);
turn(-41, 5);
moveSideways(LEFT, 5, 50);
// dir = lookForIRBeacon();
/*
* Center on the line.
*/
/*
switch (dir) {
case RIGHT:
lookForWhiteLine(RIGHT);
break;
case LEFT:
case NO_DIR:
lookForWhiteLine(LEFT);
break;
default:
}
*/
eraseDisplay();
dir = whereIsTheBeacon();
/*
* Take a reading of the compass so
* that we can rotate back to it's heading
* if we rotate off the platform
*/
markHeading();
/*
* Find the middle peg
*/
lookForWhiteLine(RIGHT);
findPeg();
switch (dir) {
case NO_DIR:
// lookForWhiteLine(RIGHT);
break;
case RIGHT:
//lookForWhiteLine(RIGHT);
moveForwardHalf(1, 40);
moveSideways(RIGHT, 30, 60);
lookForWhiteLine(RIGHT);
//alignToPeg(LEFT);
findPeg();
break;
case LEFT:
moveForwardHalf(1, 40);
moveSideways(LEFT, 30, 60);
//moveForwardHalf(2, 40);
lookForWhiteLine(LEFT);
//alignToPeg(RIGHT);
findPeg();
break;
}
// alignToPeg();
placeRing(dir);
while (true)
{}
}
