Game::Game(){
//initialise the invaders
invader_group = new InvaderGroup(Position(50,450), Scale(20,15),
15, MoveDistance(0,5,5,5), MoveRange(700,230,10,790), 11, 5, 2); //invader group
//initialise the tank
theTank = Tank("image/tank.png", Position(400,60), Scale(25,15), MoveDistance(0,0,10,10),
MoveRange(0,0,10,790),3); //tank
for(int i = 0; i < 4; i++)
{
//initialise the shields
theShield[i] = Shield("image/shield.png", Position(100+i*200,200), Scale(50,30), 10);
}
invader_last_time = -1;
invader_current_time = -1;
invader_step_time = 300; //300 ms
bullet_last_time = -1;
bullet_current_time = -1;
bullet_step_time = 30; //30 ms
//Assignment 4
tank_last_time = -1;
tank_last_milli = -1;
tank_current_time = -1;
tank_current_milli = -1;
tank_step_time = 500; // 500 ms
conti = true;
srand(time(NULL));
lose = false;
theTank.readHighScore();
}
void IDT_MapIntersection(char* leftPath, char* rightPath, char* forwardPath)
{
MoveDistance(1, 100);
StandardMessage msg;
xQueueReset(MsgQueue_MapSensor_Interrupt);
xQueueReceive( MsgQueue_MapSensor_Interrupt, &msg, 500 );
*leftPath = (char)(msg.data == 15 || msg.data == 47);
*rightPath = (char)(msg.data == 60 || msg.data == 62);
MoveDistance(39, 600);
xQueueReset(MsgQueue_MapSensor_Interrupt);
xQueueReceive( MsgQueue_MapSensor_Interrupt, &msg, 500 );
*forwardPath = (msg.data != 0);
}
void ExecuteTurn(char data)
{
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_B, data);
switch(data)
{
case 'r':
TurnRight();
break;
case 'l':
TurnLeft();
break;
case 'f':
MoveDistance(16, 600);
break;
case 't':
TurnAround();
MoveDistance(16, 600);
break;
case 'S':
moveRobot(0, 0);
while(true);
}
}
int main() {
//Main demonstration execution order
Init();
//Short course:
// - FW 2 meters (using mouse)
// - Follow wall for 2 meters (wall following algorithm)
// - FW until line reached
// - Follow line until dock detected (line following algorithm)
if(1) {
currentState = TRAVEL;
Play(BEEP);
Init_RIT(INTERVAL);
while(!go);
MoveDistance(200.0f,0);
RIT_Cmd(LPC_RIT, DISABLE);
currentState = WALLF;
Play(BEEP);
FollowWall(30.0f, LEFT);
currentState = LINEF;
Play(BEEP);
StartLineFollowing();
}
//Long course:
// - FW 2 meters (using mouse)
// - Follow wall for 2 meters (wall following algorithm)
// - Turn 90 degrees right (using mouse)
// - FW 2 meters (using mouse)
// - Turn 90 degrees left (using mouse)
// - FW 2 meters (using mouse)
// - Follow wall for 2 meters (wall following algorithm)
// - FW until line reached
// - Follow line until dock detected (line following algorithm)
if(0) {
currentState = TRAVEL;
Play(BEEP);
Init_RIT(INTERVAL);
while(!go);
MoveDistance(200.0f,0);
RIT_Cmd(LPC_RIT, DISABLE);
currentState = WALLF;
Play(BEEP);
FollowWall(30.0f, LEFT);
currentState = TRAVEL;
Play(BEEP);
Init_RIT(INTERVAL);
TurnAngle(90.0f);
RoughMoveDistance(120.0f);
TurnAngle(-90.0f);
RoughMoveDistance(200.0f);
RIT_Cmd(LPC_RIT, DISABLE);
currentState = WALLF;
Play(BEEP);
FollowWall(28.0f, RIGHT);
currentState = LINEF;
Play(BEEP);
StartLineFollowing();
}
if(0) {
Calibrate();
dockNotFound = true;
WriteByte((char) 0xBB); // Start PID
WriteByte((char)((int)127.0f*0.4f)); // Max motor speed
char parameters[4] = {0x02, 0x01, 0x03, 0x02};
Write(parameters, 4); // Parameters to adjust motor speed differences
while (dockNotFound);
}
//After the run the Pololu will halt here until it is reset.
Stop();
while(1);
}
