int battlenetworkgame::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: createRandomBoard(); break;
case 1: createCustomBoard(); break;
case 2: opponentLeft((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 3: appendMessage((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 4: fire(); break;
default: ;
}
_id -= 5;
}
return _id;
}
//=========================================
// Main Program
//=========================================
task main()
{
initializeRobot();
waitForStart(); // wait for FCS to tell us to go!
if(done)
{
StartTask(lightDiagnostic);
}
if(calibrate != 2) // GYRO calibration hasn't been run during the wait time
{
gyroCalTime = 3; // so setup the default calibrate time
calibrate = 1; // start the calibration going
while(calibrate != 2) // and wait for it to complete before moving the robot
{
EndTimeSlice();
}
}
constHeading = 0; // reset the GYRO headings to eliminate any drift while we waited
relHeading = 0; // same thing for relative heading
wait1Msec(Start_Delay*1000); // implement the user configurable delay before moving
PlaySound(soundBeepBeep); // tell everyone we're about to start going
step = MissionNumber*100; // this records the actual mission number that we ran within the data log file
LogData=true; // start saving data to the log file
servo[wrist] = WRIST_CLOSED;
servo[shoulder] = SHOULDER_DOWN;
servo[right_servo] = RIGHT_GRIPPER_START;
servo[left_servo] = LEFT_GRIPPER_START;
switch(MissionNumber) // now go run whichever mission we have been asked to run
{
//================================================
// start on the right side of the blue dispenser delivers to IR
//================================================
case 1:
IRside = position1();//go here
if(IRside < -75) column = 1;
else if(IRside < -25) column = 2;
else column = 3;
wait1Msec(800);
switch(column)
{
case 1://left
diagnosticBeeps(1);
leftPeg();
break;
case 2://center
diagnosticBeeps(2);
centerPeg();
break;
case 3://right
diagnosticBeeps(3);
rightPeg();
break;
}
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// CENTER PEG
//================================================
case 2:
position1();
centerPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// LEFT PEG
//================================================
case 3:
position1();
leftPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// RIGHT PEG
//================================================
case 4:
position1();
rightPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// IR SECOND POSITION
//================================================
case 5:
IRside = position2();//go here
if(IRside < -75) column = 1;
else if(IRside < -25) column = 2;
else column = 3;
wait1Msec(800);
switch(column)
{
case 1://left
diagnosticBeeps(1);
leftPeg();
break;
case 2://center
diagnosticBeeps(2);
centerPeg();
break;
case 3://right
diagnosticBeeps(3);
rightPeg();
break;
}
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// CENTER PED SECOND POSITION
//================================================
case 6:
position2();
centerPeg();
break;
//================================================
// LEFT PEG SECOND POSITION
//================================================
case 7:
position2();
leftPeg();
break;
//================================================
// RIGHT PED SECOND POSITION
//================================================
case 8:
position2();
rightPeg();
break;
//================================================
// DEFENSE RIGHT
//================================================
case 9:
GyroSonar_moveV2(0, BACK, 100, 124, -60,true, true, CONSTANT);
GyroTime_moveV2(700,-50,true,true,REL);
GyroTimeS_moveV2(1800,40,true,true,false,true);
break;
//================================================
// DEFENSE LEFT
//================================================
case 10:
GyroSonar_moveV2(0, BACK, 100, 124, -60,true, true, CONSTANT);
GyroTime_moveV2(700,-50,true,true,REL);
GyroTimeS_moveV2(1800,-40,true,true,false,true);
break;
//================================================
// OPPONENT IR
//================================================
case 11:
for (int i=0;i<90;i++)
{SetDrive(i,50,i);
wait1Msec(30);
}
StopRobot();
wait1Msec(30000);
break;
//================================================
// OPPONENT CENTER
//================================================
case 12:
opponentRight();
centerPeg();
break;
//================================================
// OPPONENT LEFT
//================================================
case 13:
opponentRight();
rightPeg();
break;
//================================================
// OPPONENT RIGHT
//================================================
case 14:
opponentRight();
leftPeg();
break;
//================================================
// OPPONENTL IR
//================================================
case 15:
opponentLeft();
leftPeg();
break;
//================================================
// OPPONENTL CENTER
//================================================
case 16:
opponentLeft();
centerPeg();
break;
//================================================
// OPPONENTL LEFT
//================================================
case 17:
opponentLeft();
rightPeg();
break;
//================================================
// OPPONENTL RIGHT
//================================================
case 18:
opponentLeft();
leftPeg();
break;
//================================================
// See Opponent test
//================================================
case 19:
sawOpponent = GyroSonar_moveV2(0, BACK, 100, 112, -50,true, true, CONSTANT);
StopRobot();
if(sawOpponent) diagnosticBeeps(6);
break;
//================================================
// See Opponent test2
//================================================
case 20:
sawOpponent = GyroSonar_moveV2(0, BACK, 100, 112, -50,true, true, CONSTANT);
StopRobot();
if(sawOpponent) diagnosticBeeps(6);
break;
}
LogData=false; // stop logging IR data and close the file
StopRobot();
}
