void Game_Character::MoveLeft() {
if (turn_enabled) TurnLeft();
if (IsPassable(x, y, RPG::EventPage::Direction_left)) {
TurnLeft();
x -= 1;
//IncreaseSteps();
move_failed = false;
} else {
CheckEventTriggerTouch(x - 1, y);
move_failed = true;
}
}
void testMovement()
{
int time = 0;
int speed = 0;
int test = 0;
while(true)
{
test = random(5);
speed = random(100);
time = random(20);
switch(test){
case 1:
MoveForward(time,speed); break;
case 2:
MoveBackwards(time,speed); break;
case 3:
TurnLeft(time,speed); break;
case 4:
TurnRight(time,speed); break;
case 5:
Stop(time); break;
default:
break;
}
}
}
void Snake::HandleInput(sf::Event & E)
{
//Implementacja interfejsu IControl. Zmienia stan wê¿a w zale¿noœci od rodzaju zda¿enia
//przekazanego w argumencie, albo tworzy nowy pocisk zmierzaj¹cy do miejsca klikniêcia myszk¹.
switch (E.type)
{
case sf::Event::KeyPressed:
if (E.key.code == sf::Keyboard::W)
TurnUp();
else
if (E.key.code == sf::Keyboard::S)
TurnDown();
else
if (E.key.code == sf::Keyboard::D)
TurnRight();
else
if (E.key.code == sf::Keyboard::A)
TurnLeft();
break;
case sf::Event::MouseButtonPressed:
if (E.mouseButton.button == sf::Mouse::Left)
Shoot(E.mouseButton.x, E.mouseButton.y);
break;
default:
break;
}
}
//**************************************************
// NAME: TurnLeft
// DESCRIPTION: Robot turns over the left wheel
// PARAMETERS: - speed->Right motor speed
// - angle->Rotation angle
//**************************************************
void Motor::TurnLeft(byte speed, int angle)
{
unsigned long time,timeout;
byte count;
byte encoder;
ReduceInertia();
count = EncodeAngle(speed, angle);
encoder = digitalRead(ENC_R);
time=millis();
TurnLeft(speed);
while (count > 0)
{
while (encoder == digitalRead(ENC_R))
{
timeout=millis();
if (timeout - time > MAX_TIMEOUT)
{
return;
}
}
encoder=digitalRead(ENC_R);
count--;
time=millis();
}
ReduceInertia();
}
void Game_Character::MoveUpLeft() {
if (!IsDirectionFixed()) {
if (GetDirection() % 2) {
TurnLeft();
} else {
TurnUp();
}
}
if (jumping) {
jump_plus_x--;
jump_plus_y--;
return;
}
if ((IsPassable(GetX(), GetY(), RPG::EventPage::Direction_left)
&& IsPassable(GetX() - 1, GetY(), RPG::EventPage::Direction_up))
|| (IsPassable(GetX(), GetY(), RPG::EventPage::Direction_up)
&& IsPassable(GetX(), GetY() - 1, RPG::EventPage::Direction_left))) {
SetX(GetX() - 1);
SetY(GetY() - 1);
BeginMove();
stop_count = 0;
move_failed = false;
}
}
static void handleScanCode(
int key)
{
switch (key) {
/* start of view position functions */
case KB_right:
TurnRight();
break;
case KB_left:
TurnLeft();
break;
case KB_down:
TurnForwards();
break;
case KB_up:
TurnBackwards();
break;
/* end of view postions functions */
/* start of miseclleneous functions */
case KB_pageUp:
FireCannon();
break;
case KB_home:
Toggle();
break;
/* end of miscelleneous functions */
}
}
/********************************************************************************
Yaw. You can add in a deadzone here.
********************************************************************************/
void Camera3::Yaw(const double dt)
{
if ( Application::camera_yaw > 0.0 )
TurnRight( Application::camera_yaw * dt );
else if ( Application::camera_yaw < 0.0 )
TurnLeft( Application::camera_yaw * dt );
}
task autonomous()
{
switch(AutoSelect)
{
//AUTO SKILLS
case 1:
RedSkills();
break;
// AUTO ROUTINES
case 2:
//BALL AUTO
Balls(3500);
break;
case 3:
Park();
break;
case 4:
WalloB();
break;
case 5:
WalloR();
break;
case 6:
FrontMiddleL();
break;
case 7:
FrontMiddleR();
break;
case 8:
SideMiddleB();
break;
case 9:
SideMiddleR();
break;
///// TEST CODE /////
case 17:
//PID TURN TEST
TurnLeft(900);
wait1Msec(500);
TurnRight(900);
break;
case 18:
//PID DRIVE TEST
Drive(36);
break;
case 19:
// LEFT TEST
LeftTest();
break;
case 20:
// RIGHT TEST
RightTest();
break;
default:
//NOTHING
}
}
void TurnLeftDegrees(float degrees)
{
SensorValue[Gyroscope] = 0;
while(abs(SensorValue[Gyroscope]) < abs(degrees) * 10 * 0.935)
{
if (abs(degrees) * 10 - abs(SensorValue[Gyroscope]) < 300)
TurnLeft(30);
else if (abs(degrees) * 10 - abs(SensorValue[Gyroscope]) < 500)
TurnLeft(40);
else if (abs(degrees) * 10 - abs(SensorValue[Gyroscope]) < 700)
TurnLeft(50);
else
TurnLeft(60);
if (stopEventFunction("none"))
break;
}
StopMoving();
}
void loop()
{
if(infraredReceiverDecode.buttonState() == 1)
{
switch(infraredReceiverDecode.read())
{
case IR_BUTTON_PLUS:
Forward();
break;
case IR_BUTTON_MINUS:
Backward();
break;
case IR_BUTTON_NEXT:
TurnRight();
break;
case IR_BUTTON_PREVIOUS:
TurnLeft();
break;
case IR_BUTTON_9:
ChangeSpeed(factor*9+minSpeed);
break;
case IR_BUTTON_8:
ChangeSpeed(factor*8+minSpeed);
break;
case IR_BUTTON_7:
ChangeSpeed(factor*7+minSpeed);
break;
case IR_BUTTON_6:
ChangeSpeed(factor*6+minSpeed);
break;
case IR_BUTTON_5:
ChangeSpeed(factor*5+minSpeed);
break;
case IR_BUTTON_4:
ChangeSpeed(factor*4+minSpeed);
break;
case IR_BUTTON_3:
ChangeSpeed(factor*3+minSpeed);
break;
case IR_BUTTON_2:
ChangeSpeed(factor*2+minSpeed);
break;
case IR_BUTTON_1:
ChangeSpeed(factor*1+minSpeed);
break;
default:
// Stop();
break;
}
}
else
{
Stop();
}
}
void DriveToPegRight (bool use_guided)
{ GoForward (5);
TurnRight (40);
GoForward (34);
TurnLeft (24);
GoForward (45);
if (use_guided)
GuidedDriveForward (60);
else
GoForward (60);
}
void Game_Character::TurnTowardPlayer() {
int sx = DistanceXfromPlayer();
int sy = DistanceYfromPlayer();
if ( std::abs(sx) > std::abs(sy) ) {
(sx > 0) ? TurnLeft() : TurnRight();
}
else if ( std::abs(sx) < std::abs(sy) ) {
(sy > 0) ? TurnUp() : TurnDown();
}
}
void TurnLeftUsingTimer()
{
TIM_Cmd(TIM2, ENABLE);
TurnLeft();
while (timerCount < 30)
{
}
StopVehicle();
TIM_Cmd(TIM2, DISABLE);
timerCount = 0;
}
void CPMotion::Meander(short Velocity, short Duration, short Iterations)
{
//OK
double OriginalHeading = m_Robot->GetHeading();
MoveForward(Velocity, Duration);
TurnLeft(Velocity);
for (int i = 1; i < Iterations; i++)
{
MoveForward(Velocity, Duration);
TurnRight(Velocity);
MoveForward(Velocity, Duration);
TurnRight(Velocity);
MoveForward(Velocity, Duration);
TurnLeft(Velocity);
MoveForward(Velocity, Duration);
TurnLeft(Velocity);
}
m_Robot->SetHeadingDestination(OriginalHeading, Velocity, 2);
}
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW|WDTHOLD; // stop the watchdog timer
initMotors();
while(1)
{
TurnLeft();
ShortDelay();
StopBot();
Delay();
TurnRight();
ShortDelay();
StopBot();
Delay();
MoveForward();
Delay();
StopBot();
Delay();
MoveBack();
Delay();
StopBot();
Delay();
TurnRight();
Delay();
StopBot();
Delay();
TurnLeft();
Delay();
StopBot();
Delay();
Delay();
Delay();
}
}
task main()
{
initialize (); // In the original template this was "initializeRobot();"
waitForStart (); // Wait for the beginning of autonomous phase.
clasp_goal(true);
distanceToDrive = 72.0; //6 feet
drive_both_wheels (-motorSpeed, -motorSpeed, distanceToDrive * kInch); //drives out of parking zone to kickstand
int i = 0;
for(i = 0; i <= 1; i++){
distanceToDrive = 6.0; //6 in
drive_both_wheels (motorSpeed, motorSpeed, distanceToDrive * kInch);
distanceToDrive = 10.0 //10 in
drive_both_wheels (-motorSpeed, -motorSpeed, distanceToDrive * kInch);
}
distanceToDrive = 12.0; //12 in
drive_both_wheels(motorSpeed, motorSpeed, distanceToDrive * kInch); //backs up to angle for final try
degreesToTurn = 90.0; //90 degrees
TurnLeft(degreesToTurn * kDegrees); //turns 90 degrees
distanceToDrive = 10.0; //10 in
drive_both_wheels(motorSpeed, motorSpeed, distanceToDrive * kInch); //drives 4 in
degreesToTurn = 90.0; //90 degrees
TurnRight(degreesToTurn * kDegrees); //turns 90 degrees
distanceToDrive = 30.0; //2.5 feet
drive_both_wheels(-motorSpeed, -motorSpeed, distanceToDrive * kInch); //comes in for final try to knock down the kickstand
for(i = 0; i <= 1; i++){
distanceToDrive = 6.0; //6 in
drive_both_wheels (motorSpeed, motorSpeed, distanceToDrive * kInch);
distanceToDrive = 10.0; //10 in
drive_both_wheels (-motorSpeed, -motorSpeed, distanceToDrive * kInch);
}
//the program basically flails around to knock down the kickstand
transition(); //waits for autonomous phase to end
} // main
void TurnToIR()
{
while(!facingIR())
{
if(IROnLeft())
{
TurnRight(0.05,autospeed);
}
else
{
TurnLeft(0.05,autospeed);
}
}
}
void DriveToPegRight ()
{ GoForward (5);
TurnRight (50);
GoForward (34);
TurnLeft (24);
if (USE_GUIDED_FWD)
{ GoForward (45);
GuidedDriveForward (60);
}
else
GoForward (105);
DropHand ();
GoBackwards (10.0);
}
private func Activity() {
var pBait;
// Ein Köder in der Nähe?
if (pBait=FindObject(0,-1000,-1250,2000,1500, OCF_InLiquid(), "Bait" ) )
// Schwarze Fische sind nicht wählerisch
SetCommand(this(),"Follow",pBait);
// Schwimmverhalten
if (!GBackLiquid (0, -8)) return (SetComDir (COMD_Down ()));
if (Random(2)) return(1);
if (SEqual(GetAction(),"Walk")) WalkDir();
if (Not( SEqual(GetAction(),"Swim") )) return(1);
if (Random(2)) return(TurnRight(),SetComDir(COMD_Right()));
return(TurnLeft(),SetComDir(COMD_Left()));
}
void Game_Character::Turn180Degree() {
switch (direction) {
case RPG::EventPage::Direction_down:
TurnUp();
break;
case RPG::EventPage::Direction_left:
TurnRight();
break;
case RPG::EventPage::Direction_right:
TurnLeft();
break;
case RPG::EventPage::Direction_up:
TurnDown();
break;
}
}
void CPMotion::RandMotion()
{
int limit = m_cyepersona->GetRandomNumber(3);
for (int i = 1; i <= limit; i++)
{
TurnLeft(200);
}
limit = m_cyepersona->GetRandomNumber(3);
for (int i = 1; i <= limit; i++)
{
TurnRight(200);
}
}
void Game_Character::FaceRandomDirection() {
switch (rand() % 4) {
case 0:
TurnDown();
break;
case 1:
TurnLeft();
break;
case 2:
TurnRight();
break;
case 3:
TurnUp();
break;
}
}
void main(void)
{
// Stop watchdog timer to prevent time out reset
WDTCTL=WDTPW+WDTHOLD;
//Init_Clk();
//P1DIR |= BIT0 + BIT6;
//P1OUT |= (BIT0 + BIT6);
CarInit();
while(1)
{
TurnLeft(1, 1);
delayms(1000);
TurnRight(1, 1);
delayms(1000);
}
//LPM0;
}
void UserShip3::Update(float RelativeTime)
{
m_RelativeTime = RelativeTime;
if ((IsKeyDown('I')) && (IsKeyDown('K')))
Brake();
else if (IsKeyDown('I'))
MoveForward();
else if (IsKeyDown('K'))
MoveBackward();
if ((IsKeyDown('J')) && !(IsKeyDown('L')))
TurnLeft();
if ((IsKeyDown('L')) && !(IsKeyDown('J')))
TurnRight();
SpaceShip::Update(RelativeTime);
}
void UserShip4::Update(float RelativeTime)
{
m_RelativeTime = RelativeTime;
if ((IsKeyDown(VK_NUMPAD8)) && (IsKeyDown(VK_NUMPAD5)))
Brake();
else if (IsKeyDown(VK_NUMPAD8))
MoveForward();
else if (IsKeyDown(VK_NUMPAD5))
MoveBackward();
if ((IsKeyDown(VK_NUMPAD4)) && !(IsKeyDown(VK_NUMPAD6)))
TurnLeft();
if ((IsKeyDown(VK_NUMPAD6)) && !(IsKeyDown(VK_NUMPAD4)))
TurnRight();
SpaceShip::Update(RelativeTime);
}
void Game_Character::MoveLeft() {
if (!IsDirectionFixed()) TurnLeft();
if (jumping) {
jump_plus_x--;
return;
}
if (IsPassable(GetX(), GetY(), RPG::EventPage::Direction_left)) {
SetX(GetX() - 1);
BeginMove();
stop_count = 0;
move_failed = false;
} else {
CheckEventTriggerTouch(GetX() - 1, GetY());
move_failed = true;
}
}
void UserShip1::Update(float RelativeTime)
{
m_RelativeTime = RelativeTime;
if ((IsKeyDown(VK_UP)) && (IsKeyDown(VK_DOWN)))
Brake();
else if (IsKeyDown(VK_UP))
MoveForward();
else if (IsKeyDown(VK_DOWN))
MoveBackward();
if ((IsKeyDown(VK_LEFT)) && !(IsKeyDown(VK_RIGHT)))
TurnLeft();
if ((IsKeyDown(VK_RIGHT)) && !(IsKeyDown(VK_LEFT)))
TurnRight();
SpaceShip::Update(RelativeTime);
}
/*******************************************DECIDE MOVEMENT STATE*******************************************/
void MovementLogic() {
stateTimer = stateTimer + 1; // Keep track of how long state has been constant. Roughly: Time = stateTimer * 60ms
/**********Trigger Change in state***************/
if (distance_cm <= SENSDISTANCE && forward == 1) { // Turn to avoid obstacle
if (turnDirection) {
changeState = 2; // Right
} else {
changeState = 3; // Left
}
turnDirection = !turnDirection; // Alternate left and right
}
if (stateTimer > WAITTIME && (turnRight == 1 || turnLeft == 1)) { // Robot is stuck
changeState = 4; // Backward
}
if (distance_cm > SENSDISTANCE && !backward) {
changeState = 1; // Forward
}
if (backward == 1 && stateTimer > WAITTIME) {
changeState = 1; // Forward
}
/*********Change state triggered*************/
if (changeState > 0) { // Ensures movement state of robot is only updated once when required.
switch(changeState) {
case 1:
Forward();
break;
case 2:
TurnRight();
break;
case 3:
TurnLeft();
break;
case 4:
Backward();
break;
default:
Stop();
}
changeState = 0;
stateTimer = 0;
}
}
void FollowLine() //Needs better logic just this for tests
{
if(isOnLine())
{
MoveForward(0.05,autospeed);
}
else
{
while(!isOnLine())
{
TurnToIR();
if(facingIR() && !isOnLine())
{
TurnLeft(0.05,autospeed);
}
MoveForward(0.05,autospeed);
LineDown();
}
}
}
void Phone::IntersectAction(double distance_to_intersection, double total_distance) {
// Compute turning direction using given probability.
int turn_decision = dist(RandomGenerator::get_gen());
if (turn_decision == 2) {
// Move straight.
log << "Turn decision: go straight.\n";
MoveForward(total_distance);
}else {
log << "Turn decision: turn left or right. move to intersection first.\n";
MoveForward(distance_to_intersection);
if (turn_decision == 0) {
log << "Turn left.\n";
TurnLeft();
} else {
log << "Turn right.\n";
TurnRight();
}
MoveForward(total_distance - distance_to_intersection);
}
}
