virtual void animateNode(ISceneNode* node, u32 timeMs) {
if ( !node ) return;
if ( static_cast<s32>(timeMs) < this->startTime_ ) return;
if ( waypoints_.size() < 2 ) {
this->smgr_->addToAnimatorDeletionQueue(this, node);
return;
}
if( timeMs - this->startTime_ >= this->duration_ ) {
/* we can add periodic callback here.
if( this->periodic_cb() ) this->periodic_callback(); */
this->startTime_ = timeMs; //or should be += this->duration_ ?
if( this->loop_ == 0 ) {
float const& pos = Eq<float>::calculate(1, this->start_, this->distance_, 1, node);
calculateCurrentWaypoint(node, pos);
this->smgr_->addToAnimatorDeletionQueue(this, node);
if( this->cb_ ) this->cb_();
return;
}
else if( this->loop_ > 0 )
this->loop_ -= 1;
}
float const& pos = this->updatePos(node, timeMs);
calculateCurrentWaypoint(node, pos);
}
task main()
{
nMotorEncoder[motorC] = 0;
getIntoCorridor();
int currentWaypoint = calculateCurrentWaypoint();
nxtDisplayCenteredTextLine(3, "WP: %d", currentWaypoint);
//wait1Msec(3000);
if(currentWaypoint == 1)
{
first = 2;
second = 3;
third = 1;
}
else if(currentWaypoint == 2)
{
first = 3;
second = 1;
third = 2;
}
else //currentWaypoint == 3
{
first = 1;
second = 2;
third = 3;
}
// First
corridorTurn(currentWaypoint, first);
downCorridor(currentWaypoint, first);
nxtDisplayCenteredTextLine(1, "About To Turn");
//wait1Msec(3000);
turnToWaypoint(currentWaypoint, first);
nxtDisplayCenteredTextLine(1, "Turned.");
//wait1Msec(3000);
driveToBackWall();
chamberAdjust();
beep();
// End First
wait1Msec(500);
// Second
currentWaypoint = first;
getIntoCorridor();
corridorTurn(currentWaypoint, second);
downCorridor(currentWaypoint, second);
turnToWaypoint(currentWaypoint, second);
driveToBackWall();
chamberAdjust();
beep();
// End Second
wait1Msec(500);
// Third
currentWaypoint = second;
getIntoCorridor();
corridorTurn(currentWaypoint, third);
downCorridor(currentWaypoint, third);
turnToWaypoint(currentWaypoint, third);
driveToBackWall();
chamberAdjust();
beep();
// End Third
wait1Msec(500);
}
