void SpacePage::update()
{
for (size_t i = 0; i < m_Bullets.size(); i++)
{
Bullet& b = m_Bullets.at(i);
b.lifetime++;
if (b.lifetime > 200)
{
m_Bullets[i] = m_Bullets.back();
m_Bullets.pop_back();
i--;
}
}
Gosu::Input& i = PageManager::Instance()->input();
if (i.down(m_kbSpinLeft)) {
rotateDegrees(Vector::FORWARD, 1);
} else if (i.down(m_kbSpinRight)) {
rotateDegrees(Vector::FORWARD, -1);
}
double wdt = PageManager::Instance()->graphics().width();
double hgt = PageManager::Instance()->graphics().height();
double shiftx = double(i.mouseX())-double(wdt/2);
double shifty = double(i.mouseY())-double(hgt/2);
double mousespeed = 0.1;
if (shiftx != 0) {
rotateDegrees(Vector::UP, shiftx*mousespeed);
i.setMousePosition(wdt/2, hgt/2);
}
if (shifty != 0) {
if (m_bInvertMouse) {
rotateDegrees(Vector::RIGHT, shifty*mousespeed);
} else {
rotateDegrees(Vector::RIGHT, -shifty*mousespeed);
}
i.setMousePosition(wdt/2, hgt/2);
}
if (!m_PlayerRenderable) return;
Vector dir(0, 0, 0);
if (i.down(m_kbForward)) {
dir += Vector::FORWARD;
} else if (i.down(m_kbBackward)) {
dir -= Vector::FORWARD;
}
if (i.down(m_kbStrafeRight)) {
dir -= Vector::RIGHT;
} else if (i.down(m_kbStrafeLeft)) {
dir += Vector::RIGHT;
}
if (i.down(m_kbStrafeUp)) {
dir += Vector::UP;
} else if (i.down(m_kbStrafeDown)) {
dir -= Vector::UP;
}
double speed = 1.0;
if (!i.down(m_kbTurbo)) {
speed = 5.0;
}
if (dir.x != 0 || dir.y != 0 || dir.z != 0) {
dir.normalize();
m_PlayerRenderable->setPosition(m_PlayerRenderable->getPosition() + m_rotPlayer * dir * speed);
PlayerPositionChanged();
}
}
task main()
{
writeDebugStreamLine("initalizing");
initializeRobot();
writeDebugStreamLine("initalized");
#ifdef COMPETITION
waitForStart();
#else
while (nNxtButtonPressed != kEnterButton){}
#endif
rotateDegrees(45);
while (nNxtButtonPressed != kRightButton){}
rotateDegrees(45);
while (nNxtButtonPressed != kRightButton){}
if (TestHook == 1) {
setPosition(tas, POS_AT_60CM, DEFAULT_DISTANCE-1.5);
while (nNxtButtonPressed != kRightButton){}
hookGrab();
wait1Msec(3000);
moveInches(-20);
hookUngrab();
while (nNxtButtonPressed != kLeftButton){}
}
if (TestHardware == 1) {
writeDebugStreamLine("Test Hardware");
trapDoorOpen();
trapDoorClose();
servo[collector] = COLLECTOR_IDLE;
setPosition (tas, POS_BALL_COLLECTING, DEFAULT_DISTANCE);
wait10Msec(300);
servo[collector] = COLLECTOR_IN;
wait10Msec(300);
servo[collector] = COLLECTOR_IDLE;
setPosition(tas, POS_AT_60CM, DEFAULT_DISTANCE-1.5);
wait10Msec(1000);
trapDoorOpen();
wait10Msec(3000);
}
if (TestPositions == 1) {
writeDebugStreamLine("Test Positions");
// while (nNxtButtonPressed != kRightButton){}
//setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
// while (nNxtButtonPressed != kLeftButton){}
// setPosition (tas, POS_AT_60CM, DEFAULT_DISTANCE);
// while (nNxtButtonPressed != kRightButton){}
//Test 90
//setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
// while (nNxtButtonPressed != kLeftButton){}
// setPosition (tas, POS_AT_90CM, DEFAULT_DISTANCE);
// while (nNxtButtonPressed != kRightButton){}
// trapDoorOpen();
// while (nNxtButtonPressed != kEnterButton){}
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kLeftButton){}
setPosition (tas, POS_AT_120CM, DEFAULT_DISTANCE);
while(nNxtButtonPressed != kEnterButton){}
moveInches(24);
while (nNxtButtonPressed != kRightButton){}
trapDoorOpen();
while(nNxtButtonPressed != kEnterButton){}
moveInches(-24);
while (nNxtButtonPressed != kLeftButton){}
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kEnterButton){}
setPosition (tas, POS_AT_120CM, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kRightButton){}
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kLeftButton){}
setPosition (tas, POS_AT_90CM, DEFAULT_DISTANCE+3.5);
while (nNxtButtonPressed != kRightButton){}
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kLeftButton){}
setPosition (tas, POS_AT_120CM, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kRightButton){}
trapDoorOpen();
while (nNxtButtonPressed != kRightButton){}
setPosition (tas, POS_AT_30CM, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kLeftButton){}
//setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
//while (nNxtButtonPressed != kRightButton){}
setPosition (tas, POS_AT_90CM, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kEnterButton){}
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kRightButton){}
setPosition (tas, POS_AT_120CM, DEFAULT_DISTANCE);
//while (nNxtButtonPressed != kLeftButton){}
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
while (nNxtButtonPressed != kEnterButton){}
}
#if 0
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
wait10Msec(200); //wait 2 sec for raise
//moveInches(50);
moveInches(54);
setPosition(tas, POS_AT_60CM, DEFAULT_DISTANCE-1.5);
wait10Msec(1000);
//moveInches(14);
moveInches(10);
trapDoorOpen();
wait10Msec(500);
moveInches(-20);
setPosition (tas, POS_DRIVE, DEFAULT_DISTANCE);
wait10Msec(2000);
#endif
}
void rotateWithOrientation(int degrees, byte power) {
rotateDegrees(degrees, power);
updateDirection(degrees * sgn(power));
}
