/**
Updates the accel bias raw values
*/
void LevelCalibrationModel::getSample(UAVObject *obj)
{
QMutexLocker lock(&sensorsUpdateLock);
switch (obj->getObjID()) {
case AttitudeState::OBJID:
{
AttitudeState::DataFields attitudeStateData = attitudeState->getData();
rot_accum_roll.append(attitudeStateData.Roll);
rot_accum_pitch.append(attitudeStateData.Pitch);
break;
}
default:
Q_ASSERT(0);
}
// Work out the progress based on whichever has less
double p1 = (double)rot_accum_roll.size() / (double)LEVEL_SAMPLES;
progressChanged(p1 * 100);
if (rot_accum_roll.size() >= LEVEL_SAMPLES &&
collectingData == true) {
collectingData = false;
AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager());
disconnect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
position++;
switch (position) {
case 1:
rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch);
rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll);
displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and press Save Position..."), WizardModel::Prompt);
displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_SWD);
savePositionEnabledChanged(true);
break;
case 2:
rot_data_pitch += OpenPilot::CalibrationUtils::listMean(rot_accum_pitch);
rot_data_pitch /= 2;
rot_data_roll += OpenPilot::CalibrationUtils::listMean(rot_accum_roll);
rot_data_roll /= 2;
attitudeState->setMetadata(memento.attitudeStateMdata);
m_dirty = true;
stopped();
displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
displayInstructions(tr("Board level calibration completed successfully."), WizardModel::Success);
break;
}
}
int main(void)
{
int base, exp, answer;
displayInstructions();
printf("Enter base : ");
scanf("%d", &base);
printf("Enter exponent : ");
scanf("%d", &exp);
answer = power(base, exp);
printf("%d^%d = %d\n", base, exp, answer);
displayInstructions();
return 0;
}
// main task
task main ()
{
int _dirDC = 0;
int _dirAC = 0;
int dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
int acS1, acS2, acS3, acS4, acS5 = 0;
string tmpString;
// show the user what to do
displayInstructions();
eraseDisplay();
for (int i = 0; i < 8; ++i)
sTextLines[i] = "";
// display the current DSP mode
// When connected to a SMUX, the IR Seeker V2 can only be
// used in 1200Hz mode.
nxtDisplayTextLine(0, " DC 1200");
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
while (true)
{
// Read the current non modulated signal direction
_dirDC = HTIRS2readDCDir(HTIRS2);
if (_dirDC < 0)
break; // I2C read error occurred
// read the current modulated signal direction
_dirAC = HTIRS2readACDir(HTIRS2);
if (_dirAC < 0)
break; // I2C read error occurred
// Read the individual signal strengths of the internal sensors
// Do this for both unmodulated (DC) and modulated signals (AC)
if (!HTIRS2readAllDCStrength(HTIRS2, dcS1, dcS2, dcS3, dcS4, dcS5))
break; // I2C read error occurred
if (!HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5 ))
break; // I2C read error occurred
displayText(1, "D", _dirDC, _dirAC);
displayText(2, "0", dcS1, acS1);
displayText(3, "1", dcS2, acS2);
displayText(4, "2", dcS3, acS3);
displayText(5, "3", dcS4, acS4);
displayText(6, "4", dcS5, acS5);
if (HTSMUXreadPowerStatus(HTSMUX))
nxtDisplayTextLine(7, "Batt: bad");
else
nxtDisplayTextLine(7, "Batt: good");
}
}
void GyroBiasCalibrationModel::start()
{
// reset dirty state to forget previous unsaved runs
m_dirty = false;
// configure board for calibration
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
memento.revoCalibrationData = revoCalibrationData;
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
revoCalibration->setData(revoCalibrationData);
AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
memento.attitudeSettingsData = attitudeSettingsData;
// Disable gyro bias correction while calibrating
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
// Zero board rotation
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
attitudeSettings->setData(attitudeSettingsData);
UAVObject::Metadata gyroStateMetadata = gyroState->getMetadata();
memento.gyroStateMetadata = gyroStateMetadata;
UAVObject::SetFlightTelemetryUpdateMode(gyroStateMetadata, UAVObject::UPDATEMODE_PERIODIC);
gyroStateMetadata.flightTelemetryUpdatePeriod = 100;
gyroState->setMetadata(gyroStateMetadata);
UAVObject::Metadata gyroSensorMetadata = gyroSensor->getMetadata();
memento.gyroSensorMetadata = gyroSensorMetadata;
UAVObject::SetFlightTelemetryUpdateMode(gyroSensorMetadata, UAVObject::UPDATEMODE_PERIODIC);
gyroSensorMetadata.flightTelemetryUpdatePeriod = 100;
gyroSensor->setMetadata(gyroSensorMetadata);
gyro_accum_x.clear();
gyro_accum_y.clear();
gyro_accum_z.clear();
gyro_state_accum_x.clear();
gyro_state_accum_y.clear();
gyro_state_accum_z.clear();
started();
progressChanged(0);
displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
displayInstructions(tr("Calibrating the gyroscopes. Keep the vehicle steady..."));
// Now connect to the accels and mag updates, gather for 100 samples
collectingData = true;
connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
connect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
}
void LevelCalibrationModel::savePosition()
{
QMutexLocker lock(&sensorsUpdateLock);
savePositionEnabledChanged(false);
rot_accum_pitch.clear();
rot_accum_roll.clear();
collectingData = true;
connect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
displayInstructions(tr("Hold..."));
}
/**
Updates the gyro bias raw values
*/
void GyroBiasCalibrationModel::getSample(UAVObject *obj)
{
QMutexLocker lock(&sensorsUpdateLock);
switch (obj->getObjID()) {
case GyroState::OBJID:
{
GyroState::DataFields gyroStateData = gyroState->getData();
gyro_state_accum_x.append(gyroStateData.x);
gyro_state_accum_y.append(gyroStateData.y);
gyro_state_accum_z.append(gyroStateData.z);
break;
}
case GyroSensor::OBJID:
{
GyroSensor::DataFields gyroSensorData = gyroSensor->getData();
gyro_accum_x.append(gyroSensorData.x);
gyro_accum_y.append(gyroSensorData.y);
gyro_accum_z.append(gyroSensorData.z);
break;
}
default:
Q_ASSERT(0);
}
// Work out the progress based on whichever has less
double p1 = (double)gyro_state_accum_x.size() / (double)LEVEL_SAMPLES;
double p2 = (double)gyro_accum_y.size() / (double)LEVEL_SAMPLES;
progressChanged(((p1 > p2) ? p1 : p2) * 100);
if ((gyro_accum_y.size() >= LEVEL_SAMPLES || (gyro_accum_y.size() == 0 && gyro_state_accum_y.size() >= LEVEL_SAMPLES)) &&
collectingData == true) {
collectingData = false;
m_dirty = true;
disconnect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
gyroState->setMetadata(memento.gyroStateMetadata);
gyroSensor->setMetadata(memento.gyroSensorMetadata);
revoCalibration->setData(memento.revoCalibrationData);
attitudeSettings->setData(memento.attitudeSettingsData);
stopped();
displayInstructions(tr("Gyroscope calibration completed successfully."), WizardModel::Success);
displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
}
/**
* Starts an accelerometer bias calibration.
*/
void LevelCalibrationModel::start()
{
memento.attitudeStateMdata = attitudeState->getMetadata();
UAVObject::Metadata mdata = attitudeState->getMetadata();
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
attitudeState->setMetadata(mdata);
rot_data_pitch = 0;
rot_data_roll = 0;
// reset dirty state to forget previous unsaved runs
m_dirty = false;
position = 0;
started();
// Show instructions and enable controls
progressChanged(0);
displayInstructions(tr("Place horizontally and press Save Position..."), WizardModel::Prompt);
displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
savePositionEnabledChanged(true);
}
// main task
task main ()
{
int _dirDC = 0;
int _dirAC = 0;
int dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
int acS1, acS2, acS3, acS4, acS5 = 0;
// show the user what to do
displayInstructions();
while(true)
{
PlaySound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
nNumbCyles = 0;
++nInits;
while (true)
{
if ((nNumbCyles & 0x04) == 0)
nxtDisplayTextLine(0, "Initializing...");
else
nxtDisplayTextLine(0, "");
nxtDisplayCenteredBigTextLine(1, "SMUX");
// Before using the SMUX, you need to initialise the driver
HTSMUXinit();
// Tell the SMUX to scan its ports for connected sensors
if (HTSMUXscanPorts(HTSMUX))
break;
++nNumbCyles;
PlaySound(soundShortBlip);
nxtDisplayTextLine(4, "Inits: %d / %d", nInits, nNumbCyles);
nxtDisplayCenteredTextLine(6, "Connect SMUX");
nxtDisplayCenteredTextLine(7, "to Port S1");
wait1Msec(100);
}
eraseDisplay();
for (int i = 0; i < 8; ++i)
sTextLines[i] = "";
// display the current DSP mode
// When connected to a SMUX, the IR Seeker V2 can only be
// used in 1200Hz mode.
nxtDisplayTextLine(0, " DC 1200");
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
while (true)
{
// Read the current non modulated signal direction
_dirDC = HTIRS2readDCDir(msensor_S1_1);
if (_dirDC < 0)
break; // I2C read error occurred
// read the current modulated signal direction
_dirAC = HTIRS2readACDir(msensor_S1_1);
if (_dirAC < 0)
break; // I2C read error occurred
// Read the individual signal strengths of the internal sensors
// Do this for both unmodulated (DC) and modulated signals (AC)
if (!HTIRS2readAllDCStrength(msensor_S1_1, dcS1, dcS2, dcS3, dcS4, dcS5))
break; // I2C read error occurred
if (!HTIRS2readAllACStrength(msensor_S1_1, acS1, acS2, acS3, acS4, acS5 ))
break; // I2C read error occurred
displayText(1, "D", _dirDC, _dirAC);
displayText(2, "0", dcS1, acS1);
displayText(3, "1", dcS2, acS2);
displayText(4, "2", dcS3, acS3);
displayText(5, "3", dcS4, acS4);
displayText(6, "4", dcS5, acS5);
if (HTSMUXreadPowerStatus(HTSMUX))
nxtDisplayTextLine(7, "Batt: bad");
else
nxtDisplayTextLine(7, "Batt: good");
}
}
}
void
GPIOFIntHandler(void){
// Method for handling multiple functions for a select button press
// Clear the GPIO interrupt
GPIOPinIntClear(GPIO_PORTF_BASE, GPIO_PIN_1);
// Disable Interrupts
GPIOPinIntDisable(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinIntDisable(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
// Check which state we are in
if (state==0){
// This state handles the main menu
if (pointer==0){
// Begin Classic Mode
state = 1;
startClassic();
}
else if (pointer==1){
// Begin Continuous Mode
state = 3;
startClassic();
}
else if (pointer==2){
// Show the instructions
state = 2;
RIT128x96x4Clear();
displayInstructions();
done = 1;
}
else if (pointer==3){
// Show the high scores
state = 2;
RIT128x96x4Clear();
displayScores();
done = 1;
}
else if (pointer==4){
state = 0;
initMain();
}
}
else if (state==1){
// This state handles classic mode
// Black out the letter that was selected
int idx = position + position2;
int pos = 0;
char *puc_letter = alpha[idx];
if (idx>12){
pos = position2 * 10;
RIT128x96x4StringDraw(puc_letter, pos, 87, 2);
}
else {
pos = position * 10;
RIT128x96x4StringDraw(puc_letter, pos, 75, 2);
}
// Add the letter to the list of selected letters
int i;
int wrong = 1;
int used = 0;
// Loop through the list until we find an empty spot to place the letter
for (i=0; i<26; i++){
if (strcmp(selected[i],"!")==0){
selected[i] = puc_letter;
break;
}
if (strcmp(selected[i],puc_letter)==0){
wrong = 0;
used = 1;
break;
}
}
// Check to see if the letter was already used
if (!used){
// Check the word to see if a letter matches the one selected. If it
// does, we need to display the letters instead of an underscore
for (i=0; i<strlen(words[wotd]); i++){
char w_let = words[wotd][i];
static char g[3];
usprintf(g, "%d", w_let);
char p_let = *puc_letter;
if (w_let==p_let){
wrong = 0;
// Display the letter selected
RIT128x96x4StringDraw(puc_letter, 10+i*10, 53, 15);
correct++;
}
}
}
// Check to see if it was a wrong selection
if (wrong==1){
// Increment the number of wrong attempts
try++;
// If the selection was wrong, we need to draw a piece of the hangman
if (try==1){
drawHead();
}
else if (try==2){
drawBody();
}
else if (try==3){
drawRightArm();
}
else if (try==4){
// main task
task main ()
{
int _dirDC = 0;
int _dirAC = 0;
int dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
int acS1, acS2, acS3, acS4, acS5 = 0;
// the default DSP mode is 1200 Hz.
tHTIRS2DSPMode _mode = DSP_1200;
// show the user what to do
displayInstructions();
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
PlaySound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
nNumbCyles = 0;
++nInits;
while (true)
{
if ((nNumbCyles & 0x04) == 0)
nxtDisplayTextLine(0, "Initializing...");
else
nxtDisplayTextLine(0, "");
nxtDisplayCenteredBigTextLine(1, "IR Seekr");
// set the DSP to the new mode
if (HTIRS2setDSPMode(HTIRS2, _mode))
break; // Sensor initialized
++nNumbCyles;
PlaySound(soundShortBlip);
nxtDisplayTextLine(4, "Inits: %d / %d", nInits, nNumbCyles);
nxtDisplayCenteredTextLine(6, "Connect Sensor");
nxtDisplayCenteredTextLine(7, "to Port S1");
wait1Msec(100);
}
eraseDisplay();
for (int i = 0; i < 8; ++i)
sTextLines[i] = "";
// display the current DSP mode
if (_mode == DSP_1200)
nxtDisplayTextLine(0, " DC 1200");
else
nxtDisplayTextLine(0, " DC 600");
while (true)
{
++nNumbCyles;
if (nNxtButtonPressed == kEnterButton)
{
// "Enter" button has been pressed. Need to switch mode
_mode = (_mode == DSP_1200) ? DSP_600 : DSP_1200;
while(nNxtButtonPressed == kEnterButton)
{
// Wait for "Enter" button release
}
break;
}
// Read the current non modulated signal direction
_dirDC = HTIRS2readDCDir(HTIRS2);
if (_dirDC < 0)
break; // I2C read error occurred
// read the current modulated signal direction
_dirAC = HTIRS2readACDir(HTIRS2);
if (_dirAC < 0)
break; // I2C read error occurred
// Read the individual signal strengths of the internal sensors
// Do this for both unmodulated (DC) and modulated signals (AC)
if (!HTIRS2readAllDCStrength(HTIRS2, dcS1, dcS2, dcS3, dcS4, dcS5))
break; // I2C read error occurred
if (!HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5 ))
break; // I2C read error occurred
displayText(1, "D", _dirDC, _dirAC);
displayText(2, "0", dcS1, acS1);
displayText(3, "1", dcS2, acS2);
displayText(4, "2", dcS3, acS3);
displayText(5, "3", dcS4, acS4);
displayText(6, "4", dcS5, acS5);
nxtDisplayTextLine(7, "Enter to switch");
}
}
}
int main(){
struct Player player[8];
struct Player winner;
int playerCount = 0, score, highScore = 500, game = 0;
char userInput, highName = NULL;
printf("\nWelcome to CHECKOUT\n");
Menu:
printf("\n\nMain Menu\n\n");
printf("p - (p)lay q - (q)uit r - inst(r)uctions s - HI(s)core: ");
userInput = getValidCharacter('p', 's');
if (userInput == 'p'){
int i = 0, boardSize;
printf("Enter Number of Players:");
playerCount = getValidItenger(1, 8);
for (i = 0; i < playerCount; i++){ //plares[i].id
if (player[i].id != NULL){
initPlayer(&player[i]);
}
}
printf("Enter board size: ");
boardSize = getValidItenger(5, 15);
playGame(boardSize, player, playerCount);
score = checkout(player);
int p;
for (i = 0; i<playerCount; ++i) /* Loop to store largest number to arr[0] */
{
if (score == player[i].playerScore){ /* Change < to > if you want to find smallest element*/
p = i;
}
}
winner.id = player[p].id;
strcpy(winner.playerName, player[p].playerName);
winner.playerScore = player[p].playerScore;
printf("Congratulations %s (%c)!You win!", winner.playerName, winner.id);
addToLeaderboard(game, &winner);
goto Menu;
}
else if (userInput == 's'){
displayHighestScore();
goto Menu;
}
else if (userInput == 'r'){
displayInstructions();
main();
}
//Quit
else if (userInput == 'q'){
printf("This game is much more fun than bash...");
}
else{
printf("INVALID!");
}
return 0;
}
// main task
task main ()
{
int last = 0;
int stage = 1;
int _dirDC = 0;
int _dirAC = 0;
int dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
int acS1, acS2, acS3, acS4, acS5 = 0;
// the default DSP mode is 1200 Hz.
tHTIRS2DSPMode _mode = DSP_1200;
// show the user what to do
displayInstructions();
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
PlaySound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
nNumbCyles = 0;
++nInits;
while (true)
{
if ((nNumbCyles & 0x04) == 0)
nxtDisplayTextLine(0, "Initializing...");
else
nxtDisplayTextLine(0, "");
nxtDisplayCenteredBigTextLine(1, "IR Seekr");
// set the DSP to the new mode
if (HTIRS2setDSPMode(HTIRS2, _mode))
break; // Sensor initialized
++nNumbCyles;
PlaySound(soundShortBlip);
nxtDisplayTextLine(4, "Inits: %d / %d", nInits, nNumbCyles);
nxtDisplayCenteredTextLine(6, "Connect Sensor");
nxtDisplayCenteredTextLine(7, "to Port S2");
wait1Msec(100);
}
eraseDisplay();
for (int i = 0; i < 8; ++i)
sTextLines[i] = "";
// display the current DSP mode
if (_mode == DSP_1200)
nxtDisplayTextLine(0, " DC 1200");
else
nxtDisplayTextLine(0, " DC 600");
while (true)
{
++nNumbCyles;
if (nNxtButtonPressed == kEnterButton)
{
// "Enter" button has been pressed. Need to switch mode
_mode = (_mode == DSP_1200) ? DSP_600 : DSP_1200;
while(nNxtButtonPressed == kEnterButton)
{
// Wait for "Enter" button release
}
break;
}
// Read the current non modulated signal direction
_dirDC = HTIRS2readDCDir(HTIRS2);
if (_dirDC < 0)
break; // I2C read error occurred
// read the current modulated signal direction
_dirAC = HTIRS2readACDir(HTIRS2);
if (_dirAC < 0)
break; // I2C read error occurred
// Read the individual signal strengths of the internal sensors
// Do this for both unmodulated (DC) and modulated signals (AC)
if (!HTIRS2readAllDCStrength(HTIRS2, dcS1, dcS2, dcS3, dcS4, dcS5))
break; // I2C read error occurred
if (!HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5 ))
break; // I2C read error occurred
displayText(1, "D", _dirDC, _dirAC);
displayText(2, "0", dcS1, acS1);
displayText(3, "1", dcS2, acS2);
displayText(4, "2", dcS3, acS3);
displayText(5, "3", dcS4, acS4);
displayText(6, "4", dcS5, acS5);
//displayText(7, "Last", dcS5, acS5);
//nxtDisplayTextLine(7, "Last: "+last);
/*
if(acS3 >= 50){
int speed = 20;
motor[DFR] = -speed;
motor[DFL]= -speed;
motor[DBR] = -speed;
motor[DBL]= -speed;
}
else if(acS4+acS5 >= 10){
//Right
int speed = 20;
motor[DFR] = speed;
motor[DFL]= -speed;
motor[DBR] = speed;
motor[DBL]= -speed;
}
else if(acS1+acS2 >= 10){
//Left
int speed = 20;
motor[DFR] = -speed;
motor[DFL]= speed;
motor[DBR] = -speed;
motor[DBL]= speed;
}
else{
motor[DFR] = 0;
motor[DFL]= 0;
motor[DBR] = 0;
motor[DBL]= 0;
}
*/
while(stage == 1){
int acS1, acS2, acS3, acS4, acS5 = 0;
HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5 );
if(acS1 > acS2-100&&last>10){
motor[driveL]= motor[driveL2] = motor[driveR] = motor[driveR2] = -20;
last = -1;
stage = 2;
wait1Msec(1000);
motor[driveL]= motor[driveL2] = motor[driveR] = motor[driveR2] = 0;
}
else{
if(last<acS1)
last = acS1;
int speed = 90-3*(acS2 + acS3);
if (speed < 9) speed = 9;
motor[driveL]= motor[driveL2] = motor[driveR] = motor[driveR2] = speed;
}
}
while(stage == 2){
//Right
//stage_done = 1;
HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5);
int speed = 20-acS3;
if(speed < 9) speed = 9;
motor[DFR] = -speed;
motor[DFL]= speed;
motor[DBR] = -speed;
motor[DBL]= speed;
if(acS3>last)
last = acS3;
if(last-acS3 > 1&&last!=0){
motor[DFR] = 0;
motor[DFL]= 0;
motor[DBR] = 0;
motor[DBL]= 0;
stage = 3;
wait1Msec(1000);
}
// nxtDisplayTextLine(0, "Last: "+last);
// nxtDisplayTextLine(1, "acS3: "+dcS3);
wait1Msec(500);
}
}
}
}
/**
* Called by the "Start" button. Sets up the meta data and enables the
* buttons to perform six point calibration of the magnetometer (optionally
* accel) to compute the scale and bias of this sensor based on the current
* home location magnetic strength.
*/
void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
{
calibratingAccel = calibrateAccel;
calibratingMag = calibrateMag;
started();
// check if Homelocation is set
HomeLocation::DataFields homeLocationData = homeLocation->getData();
if (!homeLocationData.Set) {
displayInstructions(tr("Home location not set, please set your home location and retry."), WizardModel::Warn);
displayInstructions(tr("Aborting calibration!"), WizardModel::Failure);
stopped();
return;
}
// Store and reset board rotation before calibration starts
storeAndClearBoardRotation();
// Calibration accel
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
memento.accelGyroSettingsData = accelGyroSettingsData;
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = 1;
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = 1;
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = 1;
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = 0;
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = 0;
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = 0;
accelGyroSettings->setData(accelGyroSettingsData);
// Calibration mag
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
memento.revoCalibrationData = revoCalibrationData;
// Reset the transformation matrix to identity
for (int i = 0; i < RevoCalibration::MAG_TRANSFORM_R2C2; i++) {
revoCalibrationData.mag_transform[i] = 0;
}
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = 1;
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = 1;
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = 1;
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = 0;
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = 0;
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = 0;
// Disable adaptive mag nulling
revoCalibrationData.MagBiasNullingRate = 0;
revoCalibration->setData(revoCalibrationData);
// Calibration AuxMag
AuxMagSettings::DataFields auxMagSettingsData = auxMagSettings->getData();
memento.auxMagSettings = auxMagSettingsData;
// Reset the transformation matrix to identity
for (int i = 0; i < AuxMagSettings::MAG_TRANSFORM_R2C2; i++) {
auxMagSettingsData.mag_transform[i] = 0;
}
auxMagSettingsData.mag_transform[AuxMagSettings::MAG_TRANSFORM_R0C0] = 1;
auxMagSettingsData.mag_transform[AuxMagSettings::MAG_TRANSFORM_R1C1] = 1;
auxMagSettingsData.mag_transform[AuxMagSettings::MAG_TRANSFORM_R2C2] = 1;
auxMagSettingsData.mag_bias[AuxMagSettings::MAG_BIAS_X] = 0;
auxMagSettingsData.mag_bias[AuxMagSettings::MAG_BIAS_Y] = 0;
auxMagSettingsData.mag_bias[AuxMagSettings::MAG_BIAS_Z] = 0;
// Disable adaptive mag nulling
auxMagSettingsData.MagBiasNullingRate = 0;
auxMagSettings->setData(auxMagSettingsData);
QThread::usleep(100000);
mag_accum_x.clear();
mag_accum_y.clear();
mag_accum_z.clear();
mag_fit_x.clear();
mag_fit_y.clear();
mag_fit_z.clear();
// Need to get as many accel updates as possible
memento.accelStateMetadata = accelState->getMetadata();
if (calibrateAccel) {
UAVObject::Metadata mdata = accelState->getMetadata();
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
accelState->setMetadata(mdata);
}
// Need to get as many mag updates as possible
memento.magSensorMetadata = magSensor->getMetadata();
memento.auxMagSensorMetadata = auxMagSensor->getMetadata();
if (calibrateMag) {
UAVObject::Metadata mdata = magSensor->getMetadata();
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
magSensor->setMetadata(mdata);
mdata = auxMagSensor->getMetadata();
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
auxMagSensor->setMetadata(mdata);
}
// reset dirty state to forget previous unsaved runs
m_dirty = false;
if (calibrateMag) {
currentSteps = &calibrationStepsMag;
} else {
currentSteps = &calibrationStepsAccelOnly;
}
position = 0;
// Show instructions and enable controls
progressChanged(0);
displayInstructions((*currentSteps)[0].instructions, WizardModel::Prompt);
showHelp((*currentSteps)[0].visualHelp);
savePositionEnabledChanged(true);
}
void main ()
{
#ifndef GUSSOUND_STANDALONE
guslib::AppRestarter::getPtr ()->setRestartParameter ("--restart");
if( guslib::AppRestarter::getPtr()->restartProcessStarted() )
{
guslib::AppRestarter::getPtr()->waitForPreviousProcessToFinish();
}
GSTARTTRACING ("zsndtrace.txt", 10);
#endif
try
{
#ifndef GUSSOUND_STANDALONE
SoundManagerFactory::getPtr ()->Register ("audiere", GAudiere::AudiereManagerUtil::createSoundManager);
#endif
SoundManagerFactory::getPtr ()->Register ("openal", GOpenAl::OpenAlManagerUtil::createSoundManager);
SoundManager::setPtr (SoundManagerFactory::getPtr ()->CreateObject ("openal"));
//SoundManager::setPtr (SoundManagerFactory::getPtr ()->CreateObject ("audiere"));
#ifndef GUSSOUND_STANDALONE
GTRACE (3, "Starting Sound Manager version: " << SoundManager::getPtr ()->getVersion ());
#endif
SoundManager::getPtr ()->getMusicPlayer ()->setFadeDuration (2500);
SoundManager::getPtr ()->getMusicPlayer ()->setRepeat (true);
// make sure the first call to elapse time won't return many seconds.
SoundManager::getPtr ()->elapseTime ();
// Start adding sounds to the sound repository.
SoundManager::getPtr ()->getRepository ()->addSound ("gus" // name
, "../Game/data/sounds/Mulchsound.wav" // path
, true // load entire sound into memory? don't do it for songs! only for small sounds.
, GSC_Effect); // a category for the sound; you can change the volume for all sounds in a category.
// Play this sound immediately.
SoundManager::getPtr ()->getRepository ()->getSound ("gus")->play2D ();
SoundManager::getPtr ()->getRepository ()->setVolumeForCategory (GSC_Music, (SoundVolume)0.75);
SoundManager::getPtr ()->getRepository ()->setVolumeForCategory (GSC_Voice, (SoundVolume)0.8);
SoundManager::getPtr ()->addSoundGroup("empty group");
try
{
std::string sTemp = SoundManager::getPtr ()->getSoundGroup ("empty group")->getRandomSound ();
SoundManager::getPtr ()->getRepository ()->getSound (sTemp)->play2D ();
}
catch (std::exception& e)
{
GTRACE (2, "Caught exception: " << e.what ());
}
// Place some sounds together in the same group. This could be used to offer a varied response to the same action.
// E.g. in a strategy game, select a swordsman. Sometimes he will reply with "hey", sometimes with "hello", sometimes with "hmm?"
SoundManager::getPtr ()->addSoundGroup("swordsman selected");
SoundManager::getPtr ()->getRepository ()->addSound ("srd_select1", "../Game/data/sounds/Mulchsound.wav", true, GSC_Voice, false);
SoundManager::getPtr ()->getRepository ()->addSound ("srd_select2", "../Game/data/sounds/MenuSelectionClicked.wav", true, GSC_Voice, false);
SoundManager::getPtr ()->getRepository ()->addSound ("srd_select3", "../Game/data/sounds/Huiitysound.wav", true, GSC_Voice, false);
SoundManager::getPtr ()->getSoundGroup("swordsman selected")->addSound("srd_select1", 20); // % chance to play this: (20 * 100) / (20 + 15 + 10) = 44%
SoundManager::getPtr ()->getSoundGroup("swordsman selected")->addSound("srd_select2", 15); // % chance to play this: (15 * 100) / (20 + 15 + 10) = 33%
SoundManager::getPtr ()->getSoundGroup("swordsman selected")->addSound("srd_select3", 10); // % chance to play this. (10 * 100) / (20 + 15 + 10) = 22%
SoundManager::getPtr ()->addSoundGroup("single sound selection");
SoundManager::getPtr ()->getRepository ()->addSound ("srd_select1_single", "../Game/data/sounds/Mulchsound.wav", true, GSC_Voice, true);
SoundManager::getPtr ()->getSoundGroup("single sound selection")->addSound("srd_select1_single", 20); // % chance to play this: (20 * 100) / (20 + 15 + 10) = 44%
SoundManager::getPtr ()->getMusicPlayer ()->registerPlaylist ("menu");
SoundManager::getPtr ()->getMusicPlayer ()->registerPlaylist ("game");
SoundManager::getPtr ()->addPlaylistTrack ("menu", "../Game/data/music/menu/General Fuzz - Cliff Notes.ogg");
SoundManager::getPtr ()->addPlaylistTrack ("game", "../Game/data/music/game/General Fuzz - Comfort Zone.ogg");
SoundManager::getPtr ()->addPlaylistTrack ("game", "../Game/data/music/game/General Fuzz - Starry.ogg");
SoundManager::getPtr ()->addPlaylistTrack ("game", "../Game/data/music/game/General Fuzz - Warm Steel.ogg");
//SoundManager::getPtr ()->addPlaylistTrack ("game", "../Game/data/music/the_prophecy.ogg");
//SoundManager::getPtr ()->addPlaylistTrack ("game", "../Game/data/music/Dark_Exploration_mini.ogg");
//SoundManager::getPtr ()->addPlaylistTrack ("game", "../Game/data/music/tread_lightly_mini.ogg");
SoundManager::getPtr ()->getMusicPlayer ()->setRepeat (true);
//SoundManager::getPtr ()->getMusicPlayer ()->setShuffle (true);
((GOpenAl::OpenAlManagerUtil*)SoundManager::getPtr ())->setListenerPosition (0, 0, 0);
SoundManager::getPtr()->getMusicPlayer()->switchToPlaylist("game");
#ifndef GUSSOUND_STANDALONE
displayInstructions ();
menutest ();
#endif
SoundManager::destroy ();
}
catch (std::exception & e)
{
#ifndef GUSSOUND_STANDALONE
GTRACE (1, "ex: " << e.what ());
#endif
}
#ifndef GUSSOUND_STANDALONE
GTRACE (7, "ending");
GSTOPTRACING ();
guslib::AppRestarter::getPtr()->finishRestart();
#endif
}
int main(int argc, char* argv[]) {
printf("Choose your difficulty: (e)asy or (n)ormal.\n");
char buffer[1];
int difficulty;
bool entered_command = false, play_again = true;
for(unsigned int bufIndex = 0; bufIndex < sizeof(buffer); bufIndex++) {
memset(&buffer[bufIndex], 0, sizeof(buffer[bufIndex])); // empty buffer
}
while( (buffer[0] != 'e') && (buffer[0] != 'n') ) {
if(entered_command) {printf("Invalid Command.\n");}
printf("> ");
for(unsigned int bufIndex = 0; bufIndex < sizeof(buffer); bufIndex++) {
memset(&buffer[bufIndex], 0, sizeof(buffer[bufIndex])); // empty buffer
}
fgets(buffer, 15, stdin);
entered_command = true;
}
if(buffer[0] == 'e') {difficulty = 1;}
else {difficulty = 2;}
for(unsigned int bufIndex = 0; bufIndex < sizeof(buffer); bufIndex++) {
memset(&buffer[bufIndex], 0, sizeof(buffer[bufIndex])); // empty buffer
}
printf("Welcome to tic-tac-toe! You'll play as 'x'.\n");
printf("If you need to hear the rules for the game, press r and hit enter.\n");
printf("Otherwise, press s and hit enter to start a new game.\n");
entered_command = false;
while( (buffer[0] != 'r') && (buffer[0] != 's') ) {
if(entered_command) {printf("Invalid Command.\n");}
printf("> ");
for(unsigned int bufIndex = 0; bufIndex < sizeof(buffer); bufIndex++) {
memset(&buffer[bufIndex], 0, sizeof(buffer[bufIndex])); // empty buffer
}
fgets(buffer, 15, stdin);
entered_command = true;
}
if(buffer[0] == 'r') {
displayRules();
printf("Now starting game.\n");
}
displayInstructions();
while(play_again) {
beginNewGame(difficulty);
entered_command = false;
buffer[0] = 'i';
while( (buffer[0] != 'y') && (buffer[0] != 'n') ) {
if(entered_command) {printf("Invalid Command.\n");}
printf("Play Again? (y)es/(n)o > ");
for(unsigned int bufIndex = 0; bufIndex < sizeof(buffer); bufIndex++) {
memset(&buffer[bufIndex], 0, sizeof(buffer[bufIndex])); // empty buffer
}
fgets(buffer, 15, stdin);
entered_command = true;
}
if(buffer[0] == 'n') {play_again = false;}
}
return 0;
}
void CMenu::displayMenu(void) {
u16 position_castle(36);
s8 l_i;
// Reset the background system
PA_ResetBgSys();
// Initialize the text at the top and bottom screens
PA_InitText(1,0);
PA_Init16cBg(1, 1);
//PA_Init16cBg(1, 1);
//PA_InitCustomText(1, 0, PA_Text);
//PA_InitText(0,0);
PA_Init16cBg(0, 1);
// Load the grass background at the top screen
PA_EasyBgLoad(1, 2, grass);
// Set the screens' brightness to white
PA_SetBrightness(1, 31);
PA_SetBrightness(0, 31);
// Load the title background at the top screen
PA_EasyBgLoad(1, 3, title);
// Change the brightness of the top screen to neutral (fading)
for (l_i = 31; l_i >= 0; l_i--) {
PA_SetBrightness(1, l_i);
PA_WaitForVBL();
PA_WaitForVBL();
}
// Create the sprites for the two castles below the grass level
PA_DualCreateSprite(SPRITE_NB_CASTLE1_PART1, (void*)topcastle_Sprite,
OBJ_SIZE_64X64, 1, PALETTE_NB_CASTLE,
69, 192-position_castle);
PA_DualCreateSprite(SPRITE_NB_CASTLE1_PART2, (void*)castle_Sprite,
OBJ_SIZE_64X64, 1, PALETTE_NB_CASTLE,
69, 192+64-position_castle);
PA_DualCreateSprite(SPRITE_NB_CASTLE2_PART1, (void*)topcastle_Sprite,
OBJ_SIZE_64X64, 1, PALETTE_NB_CASTLE,
151, 192-position_castle);
PA_DualCreateSprite(SPRITE_NB_CASTLE2_PART2, (void*)castle_Sprite,
OBJ_SIZE_64X64, 1, PALETTE_NB_CASTLE,
151, 192+64-position_castle);
// Display the castle sprites behind the grass
PA_DualSetSpritePrio (SPRITE_NB_CASTLE1_PART1, 3);
PA_DualSetSpritePrio (SPRITE_NB_CASTLE1_PART2, 3);
PA_DualSetSpritePrio (SPRITE_NB_CASTLE2_PART1, 3);
PA_DualSetSpritePrio (SPRITE_NB_CASTLE2_PART2, 3);
// Move gradually the castle sprites above the grass
for (position_castle = 36; position_castle <= 90; position_castle++) {
PA_WaitForVBL();
PA_DualSetSpriteXY(SPRITE_NB_CASTLE1_PART1, 69, 192-position_castle);
PA_DualSetSpriteXY(SPRITE_NB_CASTLE1_PART2, 69, 192+64-position_castle);
PA_DualSetSpriteXY(SPRITE_NB_CASTLE2_PART1, 151, 192-position_castle);
PA_DualSetSpriteXY(SPRITE_NB_CASTLE2_PART2, 151, 192+64-position_castle);
}
// Display the main menu
PA_EasyBgLoad(0, 0, menu2);
PA_SetBrightness(0, 0);
// Wait for a player's action
m_itemTouched = NO_MODE;
while ((m_itemTouched == NO_MODE) || (m_itemTouched == MODE_TWOPLAYERS) || (m_itemTouched == BACK)) {
m_itemTouched = itemTouched();
if (m_itemTouched == MODE_INSTRUCTIONS)
displayInstructions();
if (m_itemTouched == MODE_TWOPLAYERS) {
PA_DeleteBg (0, 0);
PA_EasyBgLoad(0, 0, hotseat_wifi);
}
if (m_itemTouched == BACK) {
PA_DeleteBg (0, 0);
PA_EasyBgLoad(0, 0, menu2);
}
PA_WaitForVBL();
}
// Delete the castle sprites
PA_DualDeleteSprite(SPRITE_NB_CASTLE1_PART1);
PA_DualDeleteSprite(SPRITE_NB_CASTLE1_PART2);
PA_DualDeleteSprite(SPRITE_NB_CASTLE2_PART1);
PA_DualDeleteSprite(SPRITE_NB_CASTLE2_PART2);
// Load the empty bottom screen
PA_EasyBgLoad(0, 3, bottomscreen);
// Activate the Wifi
if (m_itemTouched == MODE_WIFI) {
PA_DeleteBg (0, 0);
PA_EasyBgLoad(1, 2, opponentchoice);
l_wifi.goToState(WIFI_STATE_ACTIVE);
m_playerOrder = l_wifi.connection();
}
// Fading to white at the top screen
for (l_i = 0; l_i <=31; l_i++) {
PA_SetBrightness(1, l_i);
PA_WaitForVBL();
PA_WaitForVBL();
}
// Start to play the music
#ifndef DEBUG
AS_SetMP3Loop(true);
AS_SetMP3Volume(m_musicVolume);
AS_MP3DirectPlay((u8*)sound9, (u32)sound9_size);
#endif
CGame l_game; // Main game object
// Initialise the game object where m_itemTouched corresponds to the game mode
l_game.initGame(m_musicVolume, m_cardSpeed, m_itemTouched, m_playerOrder);
// Infinite loop to keep the program running
bool finish = false;
while(!finish) {
// Play the game
finish = l_game.play(&m_musicVolume, &m_cardSpeed);
PA_WaitForVBL();
}
// Stop the music
#ifndef DEBUG
AS_MP3Stop();
#endif
}