void Arm::setAngle(float angle)
{
if (!isAdjusting)
{
isAdjusting = true;
}
float newAngle = Arm::voltageToDegree(angle);
float accel_x = accel->GetAcceleration(ADXL345_I2C::kAxis_X);
float accel_y = accel->GetAcceleration(ADXL345_I2C::kAxis_Y);
float accel_z = accel->GetAcceleration(ADXL345_I2C::kAxis_Z);
pitch = (atan2(accel_x, sqrt(accel_y * accel_y + accel_z * accel_z))) / PI;
printf("%f\n", pitch);
if (fabs(curAngle - newAngle) > VOLT_THRESH)
{
if (curAngle > newAngle)
{
tiltDown();
}
else
{
tiltUp();
}
}
else
{
isAdjusting = false;
tiltZero();
return;
}
}
void Arm::update()
{
SmoothJoystick* joy = robot->gunnerJoy;
if (joy->GetTriggerState() == TRIG_R)
{
tiltUp();
}
else if (joy->GetTriggerState() == TRIG_L)
{
tiltDown();
}
else
{
tiltZero();
}
if (joy->GetRawButton(BUTTON_GRAB))
{
grab();
}
else
{
grabWheel -> Set(0.0f);
}
}
EditorMainWindow::EditorMainWindow(QWidget *parent)
: QMainWindow(parent)
{
camera_ = 0;
ui.setupUi(this);
QApplication::connect(ui.action_Open, SIGNAL(triggered()), this, SLOT(openRequested()));
QApplication::connect(ui.action_Save, SIGNAL(triggered()), this, SLOT(saveRequested()));
QApplication::connect(ui.actionDerive_map, SIGNAL(triggered()), this, SLOT(deriveMap()));
QApplication::connect(ui.action_Quit, SIGNAL(triggered()), QApplication::instance(), SLOT(quit()));
QApplication::connect(ui.actionZoom_In, SIGNAL(triggered()), this, SLOT(zoominRequested()));
QApplication::connect(ui.actionZoom_Out, SIGNAL(triggered()), this, SLOT(zoomoutRequested()));
QApplication::connect(ui.horizontalScrollBar, SIGNAL(valueChanged(int)), this, SLOT(horzScroll(int)));
QApplication::connect(ui.verticalScrollBar, SIGNAL(valueChanged(int)), this, SLOT(vertScroll(int)));
QApplication::connect(ui.actionRotate_Left, SIGNAL(triggered()), this, SLOT(rotateLeft()));
QApplication::connect(ui.actionRotate_Right, SIGNAL(triggered()), this, SLOT(rotateRight()));
QApplication::connect(ui.actionTilt_Up, SIGNAL(triggered()), this, SLOT(tiltUp()));
QApplication::connect(ui.actionTilt_Down, SIGNAL(triggered()), this, SLOT(tiltDown()));
QApplication::connect(ui.actionUndo, SIGNAL(triggered()), this, SLOT(undo()));
QApplication::connect(ui.actionRedo, SIGNAL(triggered()), this, SLOT(redo()));
QApplication::connect(new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_S),this), SIGNAL(activated()), this, SLOT(saveRequested()));
QApplication::connect(new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_O),this), SIGNAL(activated()), this, SLOT(openRequested()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_Z),this), SIGNAL(activated()), this, SLOT(zoominRequested()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_X),this), SIGNAL(activated()), this, SLOT(zoomoutRequested()));
QApplication::connect(new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_Left),this), SIGNAL(activated()), this, SLOT(rotateLeft()));
QApplication::connect(new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_Right),this), SIGNAL(activated()), this, SLOT(rotateRight()));
QApplication::connect(new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_Up),this), SIGNAL(activated()), this, SLOT(tiltUp()));
QApplication::connect(new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_Down),this), SIGNAL(activated()), this, SLOT(tiltDown()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_Left),this), SIGNAL(activated()), this, SLOT(panLeft()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_Right),this), SIGNAL(activated()), this, SLOT(panRight()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_Up),this), SIGNAL(activated()), this, SLOT(panUp()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_Down),this), SIGNAL(activated()), this, SLOT(panDown()));
ui.action_Save->setEnabled(false);
ui.editorGLWidget->setEnabled(false);
QToolButton* party_button = new QToolButton();
party_button->setText("Parties");
party_button->setCheckable(true);
party_button->setChecked(false);
handlers_.push_back(new TerrainHandler(*this, "party", false, tool_buttons_.size()));
QApplication::connect(party_button, SIGNAL(pressed()), handlers_.back(), SLOT(terrainSelected()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_P),this), SIGNAL(activated()), handlers_.back(), SLOT(terrainSelected()));
ui.tilesToolBar->addWidget(party_button);
tool_buttons_.push_back(party_button);
QToolButton* height_button = new QToolButton();
height_button->setText("Height");
height_button->setCheckable(true);
height_button->setChecked(true);
handlers_.push_back(new TerrainHandler(*this, "", false, tool_buttons_.size()));
QApplication::connect(height_button, SIGNAL(pressed()), handlers_.back(), SLOT(terrainSelected()));
QApplication::connect(new QShortcut(QKeySequence(Qt::Key_H),this), SIGNAL(activated()), handlers_.back(), SLOT(terrainSelected()));
ui.tilesToolBar->addWidget(height_button);
tool_buttons_.push_back(height_button);
QToolButton* picker_button = new QToolButton();
picker_button->setText("Picker");
picker_button->setCheckable(true);
handlers_.push_back(new TerrainHandler(*this, "", true, tool_buttons_.size()));
QApplication::connect(picker_button, SIGNAL(pressed()), handlers_.back(), SLOT(terrainSelected()));
ui.tilesToolBar->addWidget(picker_button);
tool_buttons_.push_back(picker_button);
std::vector<std::string> terrain_ids;
hex::base_terrain::get_terrain_ids(terrain_ids);
for(int n = 0; n != terrain_ids.size(); ++n) {
QToolButton* b = new QToolButton();
b->setText(hex::base_terrain::get(terrain_ids[n])->name().c_str());
b->setCheckable(true);
handlers_.push_back(new TerrainHandler(*this, terrain_ids[n], false, tool_buttons_.size()));
QApplication::connect(b, SIGNAL(pressed()), handlers_.back(), SLOT(terrainSelected()));
ui.tilesToolBar->addWidget(b);
tool_buttons_.push_back(b);
}
terrain_ids.clear();
hex::terrain_feature::get_feature_ids(terrain_ids);
for(int n = 0; n != terrain_ids.size(); ++n) {
QToolButton* b = new QToolButton();
b->setText(hex::terrain_feature::get(terrain_ids[n])->name().c_str());
b->setCheckable(true);
handlers_.push_back(new TerrainHandler(*this, terrain_ids[n], true, tool_buttons_.size()));
QApplication::connect(b, SIGNAL(pressed()), handlers_.back(), SLOT(terrainSelected()));
ui.tilesToolBar->addWidget(b);
tool_buttons_.push_back(b);
}
}
