//coordenadas do centro da maquina
void printingMachine(double x, double z){
glPushMatrix();
glTranslated(x,0,z);
machine(machineX,machineY,machineZ,machineXaux,machineYaux);
glPushMatrix();
glTranslated(-guillotineSupportX,guillotineSupportY,guillotineSupportZ);
guillotineSupport(guillotineSupportSide,guillotineSupportHeight);
glPopMatrix();
glPushMatrix();
glTranslated(guillotineSupportX,guillotineSupportY,guillotineSupportZ);
guillotineSupport(guillotineSupportSide,guillotineSupportHeight);
glPopMatrix();
glPushMatrix();
glTranslated(0.0,machineY + teapotSize/2.0,0.0);
glFrontFace(GL_CW);
glutSolidTeapot(teapotSize);
glFrontFace(GL_CCW);
glPopMatrix();
glPushMatrix();
glTranslated(0,0,conveyorZ+machineZ);
conveyorBelt(conveyorX,conveyorY,conveyorZ);
glPopMatrix();
glPopMatrix();
}
void processController()
{
//static bool 5uButton = false;
static byte rightJoystickY, leftJoystickY, prevRightJoystickY = 0, prevLeftJoystickY = 0;
rightJoystickY = readRightJoystickYAxis();
leftJoystickY = readLeftJoystickYAxis();
static bool rightDriveMoving = false;
// Primary Controller
if (abs(rightJoystickY) > MIN_JOYSTICK_THRESHOLD) {
if (prevRightJoystickY != rightJoystickY) {
rightDriveMoving = true;
turnMotor(driveRightB, driveRightF, rightJoystickY);
}
} else {
if (rightDriveMoving) {
rightDriveMoving = false;
turnMotor(driveRightB, driveRightF, 0);
}
}
static bool leftDriveMoving = false;
if (abs(leftJoystickY) > MIN_JOYSTICK_THRESHOLD) {
if (prevLeftJoystickY != leftJoystickY) {
leftDriveMoving = true;
turnMotor(driveLeftB, driveLeftF, leftJoystickY);
}
} else {
if (leftDriveMoving) {
leftDriveMoving = false;
turnMotor(driveLeftB, driveLeftF, 0);
}
}
prevRightJoystickY = rightJoystickY;
prevLeftJoystickY = leftJoystickY;
if (isButtonPressed(Btn5U))
{
ballIntake(-100);
} else {
if (isButtonPressed(Btn5D))
{
ballIntake(100);
}
else
ballIntake(0);
}
// if (isButtonPressed(Btn5D))
// {
// ballIntake(100);
// } else {
// ballIntake(0);
// }
if (isButtonClick(Btn6U)) jawControle(0);
if (isButtonClick(Btn6D)) jawControle(1);
// Secondary Controller
conveyorBelt(50); //<- Conveyor Speed
if (isButtonClick(Btn8DXmtr2)) startShooter(100); //<- Shooter Speeds
if (isButtonClick(Btn8LXmtr2)) startShooter(80); //<- Shooter Speeds
if (isButtonClick(Btn8UXmtr2)) startShooter(60); //<- Shooter Speeds
if (isButtonClick(Btn8RXmtr2)) startShooter(40); //<- Shooter Speeds
if (isButtonClick(Btn7DXmtr2)) stopShooter();
}
