void FunctionBot::runArm()
{
int state;
int pnulvl;
float lim;
state=getState();
pnulvl=pnuState(state);
if(state==5||state==6)
{
lim=MAX_POS_0/300.0f;
}
else
lim=MAX_POS_1/300.0f;
if(pnulvl>lpnulvl)
{
if(!inTransit)
{
updatePNU(pnulvl);
inTransit=true;
startTiming(1);
}
else if(timeExpired())
{
inTransit=false;
lpnulvl=pnulvl;
if(desiredAngle()<lim)
{
updateElbow(desiredAngle());
}
else
updateElbow(lim);
}
else
{
if(desiredAngle()<MAX_POS_0/300.0f)
updateElbow(desiredAngle());
else
updateElbow(MAX_POS_0/300.0f);
}
}
else
{
if(currentAngle()>lim)
{
updateElbow(lim);
}
else
{
updatePNU(pnulvl);
lpnulvl=pnulvl;
if(desiredAngle()<lim)
updateElbow(desiredAngle());
else
updateElbow(lim);
}
}
updateClaw();
}
/** Delay the invocation of the application loop for a specified duration
*
* This function will block until the specified time period has elapsed but
* background tasks (network operations, battery monitoring, etc) will continue.
*
* @param duration the amount of time to delay for
* @param units the units the duration is specified in
*/
void delay(uint32_t duration, TIMEUNIT units) {
static bool inDelay = false;
if(inDelay)
return; // Avoid recursive calls
inDelay = true;
// Run the main loop without the user application for a while
uint32_t timer = getTicks();
while(!timeExpired(timer, duration, units))
mainLoop(false);
inDelay = false;
}
void
COLLI_IrHandler( irInfo* irs)
{
if ( 0 && irs->numberOfActivatedIrs > 0)
fprintf( stderr, "%d irs\n", irs->numberOfActivatedIrs);
if ( irs->numberOfActivatedIrs > 0
||
( irs->numberOfActivatedIrs == 0
&&
Ir_Obstacle_Points.no_of_points > 0
&&
( timeExpired( IR_TIMER) > IR_REMEMBER_TIME))
)
update_IrPoints( irs);
COLLI_update_tcx_IrPoints();
}
QtMonitoring::QtMonitoring() : QWidget()
{
ui.setupUi(this);
infoThread = new InfoThread();
memInfo = new MemoryInfo("/proc/meminfo");
QHBoxLayout *controlLayout = new QHBoxLayout;
btnStart = new QPushButton("Start");
btnStop = new QPushButton("Stop");
btnStop->setEnabled(false);
this->connect(btnStart, SIGNAL(clicked()), this, SLOT(startMonitoring()));
this->connect(btnStop, SIGNAL(clicked()), this, SLOT(stopMonitoring()));
this->connect(infoThread, SIGNAL(timeExpired()), this, SLOT(handleTimeExpired()));
controlLayout->addWidget(btnStart);
controlLayout->addWidget(btnStop);
this->setLayout(controlLayout);
}
