void moveToBasket(int motorpower)
{
rotate(right, motorpower, east);
drive(motorpower, 8, yes);
moveBucket(down);
wait10Msec(100);
moveBucket(up);
drive(-(motorpower), 8, yes);
rotate(left, motorpower, north);
arm(down);
}
task main()
{
while (true)
{
if(nNxtButtonPressed == kEnterButton)
{
lift();
}
else if(nNxtButtonPressed == kLeftButton)
{
moveBucket(true, false);
}
else if(nNxtButtonPressed == kRightButton)
{
moveBucket(false, false);
}
else
{
moveBucket(false, true);
}
}
}
/// Add an empty bucket to the front of lists_[segment].
void EratBig::pushBucket(uint_t segment)
{
// if the stock_ is empty allocate new buckets
if (!stock_)
{
const int N = config::BYTES_PER_ALLOC / sizeof(Bucket);
Bucket* buckets = new Bucket[N];
for (int i = 0; i < N-1; i++)
buckets[i].setNext(&buckets[i + 1]);
buckets[N-1].setNext(NULL);
pointers_.push_back(buckets);
stock_ = buckets;
}
Bucket* emptyBucket = stock_;
stock_ = stock_->next();
moveBucket(*emptyBucket, lists_[segment]);
}
/// Cross-off the multiples of big sieving primes
/// from the sieve array.
///
void EratBig::crossOff(byte_t* sieve)
{
// process the buckets in lists_[0] which hold the sieving primes
// that have multiple(s) in the current segment
while (lists_[0]->hasNext() || !lists_[0]->empty())
{
Bucket* bucket = lists_[0];
lists_[0] = NULL;
pushBucket(0);
do {
crossOff(sieve, bucket->begin(), bucket->end());
Bucket* processed = bucket;
bucket = bucket->next();
processed->reset();
moveBucket(*processed, stock_);
} while (bucket);
}
// move the list corresponding to the next segment
// i.e. lists_[1] to lists_[0] ...
std::rotate(lists_.begin(), lists_.begin() + 1, lists_.end());
}
// update updates the position and orientation of each object according to the
// actions initiated by the user
//
void Design::update() {
int delta;
int dt=0;
int ds=0;
delta = now - lastUpdate;
lastUpdate = now;
Vector hpos;
if (now - lastFireTime_ > 100) {
if(pressed(GREEDY_KEY)){
searchroutine_=GREEDY;
lastFireTime_=now;
}
else if(pressed(UNIFORM_KEY)){
searchroutine_=UNIFORM;
lastFireTime_=now;
}
else if(pressed(ASTAR_KEY)){
searchroutine_=ASTAR;
lastFireTime_=now;
}
else if(pressed(IDASTAR_KEY)){
searchroutine_=IDASTAR;
lastFireTime_=now;
}
else if(pressed(NEXTBOX)){
selectloc_=(selectloc_+1)%map_.numvert();
hpos=highlighter_->position();
highlighter_->translate(-hpos.x,-hpos.y,-hpos.z);
highlighter_->translate(map_.vx(selectloc_),map_.vy(selectloc_),map_.vz(selectloc_));
lastFireTime_=now;
}
else if(pressed(PREVBOX)){
selectloc_=(selectloc_==0)?map_.numvert()-1:selectloc_-1;
hpos=highlighter_->position();
highlighter_->translate(-hpos.x,-hpos.y,-hpos.z);
highlighter_->translate(map_.vx(selectloc_),map_.vy(selectloc_),map_.vz(selectloc_));
lastFireTime_=now;
}
else if(pressed(STARTANIM)){
if(!ismoving_){
if(selectloc_!=whichbox_){
bool searchsuccess=false; //stores return value of path finding function
switch (searchroutine_){
case GREEDY: searchsuccess=greedy(selectloc_); break;
case UNIFORM: searchsuccess=uniformCost(selectloc_); break;
case ASTAR: searchsuccess=aStar(selectloc_); break;
case IDASTAR: searchsuccess=iDAStar(selectloc_); break;
}/*switch*/
if(searchsuccess){
ismoving_=true;
currloc_=0;
}
}
}//!ismoving_
}
}
if(ismoving_){
//move bucket along
bool done=false;
float leftover=(float)delta/UNITS_PER_SEC; //amount of time leftover moving bucket along the edge
//in this time frame.
int dest=path_[currloc_+1];
while(!done && moveBucket(path_[currloc_],path_[currloc_+1],leftover)){
//function returns true if destination was reached
//in this time frame. so if it was reached,
//continue to next node or if end of path stop the movment
currloc_++;
if(currloc_==numnodes_-1){
whichbox_=path_[numnodes_-1];
done=true;
currloc_=0;
ismoving_=false;
}
}
}
lastUpdate = now;
}
