Square * Square::GetSolutionWordStart(GridDirection dir)
{
return FindSolutionWordBoundary(this, (GridDirection)InvertDirection(dir));
}
void StepperMotor::PerformStep(MotorDirection Direction)
{
//full step sequence. maximum torque
const unsigned int FullStep[4][4] = { {1,0,1,0},{0,1,1,0},{0,1,0,1},{1,0,0,1} };
//half-step sequence. double resolution. But the torque of the stepper motor is not constant
const unsigned int HalfStep[8][4] = { {1,0,0,0},{1,0,1,0},{0,0,1,0},{0,1,1,0},{0,1,0,0},{0,1,0,1},{0,0,0,1},{1,0,0,1} };
int TargetPhase;
this->Direction = Direction;
if (_IsInverted)
InvertDirection();
if (_Enabled)
{
//Record our target phase
TargetPhase = (this->Phase + this->Direction);
//Check if we need to reset the phase.
if (!_IsHalfStep)
{
if (this->Direction == CLOCKWISE && TargetPhase > 3)
TargetPhase = 0;
else if (this->Direction == CTRCLOCKWISE && TargetPhase < 0)
TargetPhase = 3;
}
else
{
if (this->Direction == CLOCKWISE && TargetPhase > 7)
TargetPhase = 0;
else if (this->Direction == CTRCLOCKWISE && TargetPhase < 0)
TargetPhase = 7;
}
//Set coils based upon phase shift, direction,and stepping style.
if (!_IsHalfStep)
{
digitalWrite(_Coil_1, FullStep[TargetPhase][0]);
digitalWrite(_Coil_3, FullStep[TargetPhase][2]);
if (!_IsNOTGated)
{
digitalWrite(_Coil_2, FullStep[TargetPhase][1]);
digitalWrite(_Coil_4, FullStep[TargetPhase][3]);
}
}
else
{
digitalWrite(_Coil_1, HalfStep[TargetPhase][0]);
digitalWrite(_Coil_3, HalfStep[TargetPhase][2]);
if (!_IsNOTGated)
{
digitalWrite(_Coil_2, HalfStep[TargetPhase][1]);
digitalWrite(_Coil_4, HalfStep[TargetPhase][3]);
}
}
//Update motor status.
this->Phase = TargetPhase;
this->Position += this->Direction;
}
//If we're not holding the motor position let's release it.
if (!HoldPosition)
CoilsOff();
}
const Square * Square::GetWordStart(GridDirection dir) const
{
return FindWordBoundary(this, (GridDirection)InvertDirection(dir));
}
void JoystickEntityHandler::MoveJoystick()
{
// Safir::Logging::SendSystemLog(Safir::Logging::Critical,
// L"JoystickEntityHandler::MoveJoystick");
Safir::Dob::EntityProxy entityProxy = m_connection.Read(m_JoystickEntity);
Consoden::TankGame::JoystickPtr joystick =
boost::static_pointer_cast<Consoden::TankGame::Joystick>(entityProxy.GetEntity());
Consoden::TankGame::Direction::Enumeration newDirection;
// Make a random movement
float r = random();
r = r / RAND_MAX;
// Since moving backwards will kill the tank, make that unprobable (1%)
if (r < 0.01) {
// Backwards (1%)
newDirection = InvertDirection(m_LastDirection);
MoveDirection(newDirection, joystick);
m_LastDirection = newDirection;
} else if (r < 0.41) {
// Forward (40%)
newDirection = m_LastDirection;
MoveDirection(newDirection, joystick);
m_LastDirection = newDirection;
} else if (r < 0.61) {
// Turn right (20%)
newDirection = TurnRight(m_LastDirection);
MoveDirection(newDirection, joystick);
m_LastDirection = newDirection;
} else if (r < 0.81) {
// Turn left (20%)
newDirection = TurnLeft(m_LastDirection);
MoveDirection(newDirection, joystick);
m_LastDirection = newDirection;
} else {
// Stand still (19%)
MoveDirection(Consoden::TankGame::Direction::Neutral, joystick);
}
// Set a random fire direction
r = random();
r = r / RAND_MAX;
if (r < 0.25) {
TowerDirection(Consoden::TankGame::Direction::Left, joystick);
} else if (r < 0.50) {
TowerDirection(Consoden::TankGame::Direction::Right, joystick);
} else if (r < 0.75) {
TowerDirection(Consoden::TankGame::Direction::Up, joystick);
} else {
TowerDirection(Consoden::TankGame::Direction::Down, joystick);
}
// Fire?
r = random();
r = r / RAND_MAX;
if (r < 0.2) {
// Yes! 20%
Fire(true, joystick);
} else {
// No! 80%
Fire(false, joystick);
}
}
