void drive(const int x, const int y, const int phi ) { rec::core_lt::Timer timer; timer.start(); //while( com.isConnected() // && false == bumper.value() // && timer.msecsElapsed() < 10000 ) while( com.isConnected() && false == bumper.value() && odometry.x() < x ) { omniDrive.setVelocity( 70, 0, 0 ); com.waitForUpdate(); } while( com.isConnected() && false == bumper.value() && odometry.y() < y ) { omniDrive.setVelocity( 0, 70, 0 ); com.waitForUpdate(); } while( com.isConnected() && false == bumper.value() && odometry.phi() < phi ) { omniDrive.setVelocity( 0, 0, 30 ); com.waitForUpdate(); } }
void drive() { Bumper bumper; while( com.isConnected() && false == bumper.value() && _run ) { com.processEvents(); rec::robotino::api2::msleep( 1000 ); } }
void drive(const int x, const int y, const int phi ) { const int vel=90; rec::core_lt::Timer timer; timer.start(); //while( com.isConnected() // && false == bumper.value() // && timer.msecsElapsed() < 10000 ) double M=sqrt(mysqr(odometry.x()-x)+mysqr(odometry.y()-y)); while( com.isConnected() && false == bumper.value() && M>30 ) { M=sqrt(mysqr(odometry.x()-x)+mysqr(odometry.y()-y)); //std::cout<<M<<std::endl; omniDrive.setVelocity( vel*((double)(x-odometry.x()))/M, vel*((double)(y-odometry.y()))/M, 0 ); com.waitForUpdate(); } /* while( com.isConnected() && false == bumper.value() && odometry.x() < x ) { omniDrive.setVelocity( 70, 0, 0 ); com.waitForUpdate(); } while( com.isConnected() && false == bumper.value() && odometry.y() < y ) { omniDrive.setVelocity( 0, 70, 0 ); com.waitForUpdate(); }*/ while( com.isConnected() && false == bumper.value() && phi>0 && (abs(odometry.phi()-phi)>5) ) { omniDrive.setVelocity( 0, 0, +30 ); com.waitForUpdate(); } while( com.isConnected() && false == bumper.value() && phi<0 && (abs(odometry.phi()-phi)>5) ) { omniDrive.setVelocity( 0, 0, -30 ); com.waitForUpdate(); } }
void videoInit() { videoSetModeSub(MODE_0_2D); oamInit(&oamSub, SpriteMapping_Bmp_1D_128, false); int bgId = bgInitSub(3, BgType_Text8bpp, BgSize_T_256x256, 0, 1); bgSetPriority(bgId, 3); dmaCopy(background.gfxData, bgGetGfxPtr(bgId), MemChunk_GetSize(background.gfxData)); dmaCopy(background.mapData, bgGetMapPtr(bgId), MemChunk_GetSize(background.mapData)); dmaCopy(background.palData, BG_PALETTE_SUB, MemChunk_GetSize(background.palData)); videoSetMode(MODE_3_2D); int bgBmp = bgInit(3, BgType_Bmp16, BgSize_B16_256x256, 2, 0); bmpBuf = bgGetGfxPtr(bgBmp); clearBitmap(); int bgTop = bgInit(2, BgType_Text8bpp, BgSize_T_256x256, 0, 1); bgSetPriority(bgTop, 3); dmaCopy(topscr.gfxData, bgGetGfxPtr(bgTop), MemChunk_GetSize(topscr.gfxData)); dmaCopy(topscr.mapData, bgGetMapPtr(bgTop), MemChunk_GetSize(topscr.mapData)); dmaCopy(topscr.palData, BG_PALETTE, MemChunk_GetSize(topscr.palData)); u16* gfx = SPRITE_GFX_SUB; for (int i = 0; i < 6; i ++) { int xPos = 16 + (i % 3) * (64+16); int yPos = 48 + (i / 3) * (64+8); oamSet(&oamSub, i, xPos, yPos, 1, 15, SpriteSize_64x64, SpriteColorFormat_Bmp, gfx, -1, 0, false, false, false, false); gfx += 64*64; } { dmaCopy(selection.gfxData, gfx, MemChunk_GetSize(selection.gfxData)); oamSet(&oamSub, 6, 0, 0, 0, 15, SpriteSize_16x16, SpriteColorFormat_Bmp, gfx, -1, 0, false, false, false, false); gfx += 16*16; } for (int i = 0; i < MAX_RUNNING_APP_COUNT; i ++) { oamSet(&oamSub, 7+i, 64+(i*(16+8)), 16, 1, 15, SpriteSize_16x16, SpriteColorFormat_Bmp, gfx, -1, 0, false, false, false, false); oamSub_mem[7+i].isHidden = true; gfx += 16*16; } g_appListChanged = true; bump.init(BG_PALETTE_SUB); bump.SelectBump(page); updCursor(); loadPageIcons(); updAppList(); forceTopScrRefresh = true; }
static bool MainVBlank() { renderTopLines(); updAppList(); word_t kDown = keysDown(); TouchPos pos; // Page moving code do { int disp = 0; if (kDown & KEY_LEFT) disp = -1; else if (kDown & KEY_RIGHT) disp = +1; else if (kDown & KEY_UP) disp = -6; else if (kDown & KEY_DOWN) disp = +6; else if (kDown & KEY_TOUCH) { if (pos.InRegion(0, 48, 8, 64*2+8)) disp = -1; else if (pos.InRegion(256-8, 48, 8, 64*2+8)) disp = +1; } if (!disp) break; int oldPage = page; page += disp; int nPages = bump.GetBumpCount(); while (page < 0) page += nPages; while (page >= nPages) page -= nPages; if (page == oldPage) break; unloadPageIcons(oldPage); bump.SelectBump(page); updCursor(); loadPageIcons(); } while(0); // Selection code if (kDown & KEY_TOUCH) do { bool bFound = false; for (int i = 0; i < 6; i ++) { int xPos = 16 + (i % 3) * (64+16); int yPos = 48 + (i / 3) * (64+8); if (pos.InRegion(xPos, yPos, 64, 64)) { int touchedApp = page*6 + i; if (touchedApp == selectedApp) executeApp(); else if (g_appData[touchedApp].IsLoaded()) { selectedApp = touchedApp; updCursor(); } bFound = true; break; } } if (bFound) break; for (int i = 0; i < g_appList.GetCount(); i ++) { if (!pos.InRegion(64+(i*(16+8)), 16, 16, 16)) continue; SwitchToApp(i); return true; } } while(0); if (kDown & KEY_A) executeApp(); #ifdef ALLOW_EXIT if (g_appList.GetCount() == 0 && (kDown & KEY_START)) return false; #endif return true; }