/// update - should be called at 10hz
void AP_LandingGear::update()
{
// if there is a force deploy active, disable retraction, then reset force deploy to consume it
// gear will be deployed automatically because _retract_enabled is false.
// this will disable retract switch until it is cycled through deploy position
if ( _force_deploy){
enable(false);
force_deploy(false);
}
if (!_retract_enabled) {
// force deployment if retract is not enabled
deploy();
// retract is disabled until switch is placed into deploy position to prevent accidental retraction on bootup if switch was left in retract position
enable(_command_mode == LandingGear_Deploy);
return;
}
if (_command_mode == LandingGear_Deploy){
deploy();
}
if (_command_mode == LandingGear_Retract){
retract();
}
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(-1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1600); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArm();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
intake(0);
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 550); //estimated guess based on 10Q's values
wait1Msec(300);
moveStraight(-1, 0, 550);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
moveStraight(-1, 0, 950);
resetValues(100);
}
void redUdit()
{
deploy();
intake(true);
wait10Msec(10);
moveStraight(1, 0, 475);
wait10Msec(50);
moveStraight(-1, 0, 475);
//stopIntake();
lift(BUMP);
holdArm();
waitForButton();
intake(false);
wait10Msec(100);
waitForButton();
resetValues(0);
liftDown();
// end Devansh
waitForButton();
intake(true);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(false);
// end udit
resetValues(1000);
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
{
deploy();
intake(true);
wait10Msec(10);
moveStraight(1, 0, 475);
wait10Msec(50);
moveStraight(-1, 0, 475);
//stopIntake();
lift(BUMP);
holdArm();
waitForButton();
intake(false);
wait10Msec(100);
waitForButton();
resetValues(0);
liftDown();
// end Devansh
waitForButton();
intake(true);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(false);
// end udit
resetValues(1000);
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1550); // 1600 is just before goal...changed for some reason
lift(HIGH); // only accurate to the nearest 100... may need to adjust HIGH value
holdArm();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(false);
wait1Msec(1000); // outtake
stopIntake();
moveStraight(-1, 0, 400); // move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
waitForButton();
lift(BARRIER);
holdArm();
intake(false);
moveStraight(1, 0, 550); // estimated guess based on 10Q's values - WORKS
wait1Msec(300);
moveStraight(-1, 0, 550);
waitForButton();
moveStraight(1, 0, 950); // A bit of trouble... Not sure if you want to spin rollers for this hit...
wait1Msec(300); // outtaking pushes the ball away + needs good aiming
moveStraight(-1, 0, 950);
resetValues(100);
}
task autonomous()
{
deploy();
while(true)
{
if(SensorValue[waitingButtonRed] == 1)
{
if(SensorValue[AutonSelect] < ALEX)
{
Alex(); // 15 middle zone
}
else if(SensorValue[AutonSelect] < UDIT)
{
RedUdit(); // projected 30 pts + spare change (6-14)
}
else if(SensorValue[AutonSelect] < DEVANSH)
{
skills(); // safe 3-6
}
else{}
break;
}
else if(SensorValue[waitingButtonBlue] == 1)
{
if(SensorValue[AutonSelect] < ALEX)
Alex();
else if(SensorValue[AutonSelect] < UDIT)
blueUdit();
else if(SensorValue[AutonSelect] < DEVANSH)
skills();
else{}
break;
}
}
}
void Alex2() // Knocks 2 big balls (10) then caches preload
{
deploy();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
waitForButton();
moveStraight(1, 0, 1420); // maintenence and recalibrating needed
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 500); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
motor[LeftArm] = motor[RightArm] = -127;
wait1Msec(800);
motor[LeftArm] = motor[RightArm] = 0;
// end score bucky
moveStraight(-1, 0, 1300); // now user readjust for first ball
}
void AlexAlt() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1600); // maintenence and recalibrating needed
liftTime(1,300);
holdArmHigh();
moveStraight(1, 0, 650); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
}
void redUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
// end Devansh
waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
/// initialise state of landing gear
void AP_LandingGear::init()
{
if (_pin_deployed != -1) {
hal.gpio->pinMode(_pin_deployed, HAL_GPIO_INPUT);
// set pullup/pulldown to default to non-deployed state
hal.gpio->write(_pin_deployed, !_pin_deployed_polarity);
log_wow_state(wow_state_current);
}
if (_pin_weight_on_wheels != -1) {
hal.gpio->pinMode(_pin_weight_on_wheels, HAL_GPIO_INPUT);
// set pullup/pulldown to default to flying state
hal.gpio->write(_pin_weight_on_wheels, !_pin_weight_on_wheels_polarity);
log_wow_state(wow_state_current);
}
switch ((enum LandingGearStartupBehaviour)_startup_behaviour.get()) {
default:
case LandingGear_Startup_WaitForPilotInput:
// do nothing
break;
case LandingGear_Startup_Retract:
retract();
break;
case LandingGear_Startup_Deploy:
deploy();
break;
}
}
void BlueSai() //potential 20pt auton
{
deploy();
// go for second ball knockdown
noRamp(1,1800);
}
void Udit()
{
deploy();
intake(true);
moveStraight(1, 0, 150);
wait10Msec(30);
moveStraight(-1, 0, 150);
lift(BUMP);
moveStraight(-1, 0, 150);
setRight(127); setLeft(127);
}
/// set landing gear position to retract, deploy or deploy-and-keep-deployed
void AP_LandingGear::set_position(LandingGearCommand cmd)
{
switch (cmd) {
case LandingGear_Retract:
retract();
break;
case LandingGear_Deploy:
deploy();
break;
}
}
int
main(void)
{
/* graceful exit */
atexit(cleanup);
if (deploy() < 0)
errx(EXIT_FAILURE, "error connecting to X");
for (;;)
events_loop();
return EXIT_FAILURE;
}
void blueUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
waitForButton();
//liftDown();
// end Devansh
//waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(1, 0, 200);
//crossBump();
lift(BUMP);
nMotorEncoder[LeftMWheel] = 0;
if(true)
{
setRight(127);
wait10Msec(10);
setLeft(127);
}
while (abs(nMotorEncoder[LeftMWheel]) < 500)
{
setRight(127); setLeft(127);
}
setRight(0); setLeft(0);
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
void skills()
{
deploy();
wait10Msec(20);
intakeSlow(1);
moveStraight(1, 0, 430); //picks up
wait10Msec(50);
moveStraight(-1, 0, 430);//comes back
intake(1);
lift(BUMP - 50);
holdArm();
moveStraight(-1,0,700);//hops bump
waitForButton();
liftDown();
intake(0);
waitForButton();
moveStraight(1, 0, 1400); // maintenence and recalibrating needed
wait10Msec(30);
lift(HIGH);
holdArmHigh();
moveStraight(1, 0, 430); // reaches goal
//wait1Msec(1000);
intake(-1);
wait10Msec(150); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
lift(LOW);
wait10Msec(50);
intake(0);
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
moveStraight(1,0,600);
spin(1,0,200);
lift(BARRIER);
holdArmHigh();
moveStraight(1, 0, 475);
wait10Msec(40);
moveStraight(-1, 0, 275);
}
void redUdit()
{
deploy();
wait10Msec(20);
moveStraight(1, 0, 450); //picks up
wait10Msec(50);
moveStraight(-1, 0, 450);//comes back
intake(0);
waitForButton();
moveStraight(1, 0, (610));
spin(-1,0, 240);
moveStraight(1, 0, (575));
lift(BARRIER - 300);
holdArm();
intake(-1);
wait10Msec(130);
liftDown();
intake(0);
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 150); // 200 estimated based on 10Q values
wait10Msec(50);
moveStraight(-1, 0, 150);
intake(0);
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
waitForButton();
resetValues(0);
liftDown();
wait10Msec(20);
intake(1);
moveStraight(1, 0, (TILE + HALF_TILE)); // theory
wait10Msec(50); // intake ball hopefully
lift(BUMP);
holdArm();
intake(0);
spin(0, -1, RIGHT_ANGLE); // RED SIDE TURN LEFT knocks buckies hopefully
wait10Msec(30);
intake(-1); // outtake ball hopefully
wait10Msec(300);
intake(0);
spin(0, 1, RIGHT_ANGLE);
liftDown();
intake(1);
moveStraight(1, 0, (TILE + HALF_TILE)); // theory
lift(BUMP);
holdArm();
intake(0);
spin(0, -1, RIGHT_ANGLE); // RED SIDE TURN LEFT
wait10Msec(30);
intake(-1);
resetValues(10);
}
void RedSai() //potential 20pt auton
{
deploy();
// go for second ball knockdown
moveStraight(1, 0, 950);
wait1Msec(300);
moveStraight(-1, 0, 950);
resetValues(100);
waitForButton();
moveStraight(1,0,1500); //move forward
spin(-1,0,180); // turn towards the cache
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 650); // reaches goal
intake(-1);
wait1Msec(1000); // outtake
}
void AP_LandingGear::update(float height_above_ground_m)
{
if (_pin_weight_on_wheels == -1) {
last_wow_event_ms = 0;
wow_state_current = LG_WOW_UNKNOWN;
} else {
LG_WOW_State wow_state_new = hal.gpio->read(_pin_weight_on_wheels) == _pin_weight_on_wheels_polarity ? LG_WOW : LG_NO_WOW;
if (wow_state_new != wow_state_current) {
// we changed states, lets note the time.
last_wow_event_ms = AP_HAL::millis();
log_wow_state(wow_state_new);
}
wow_state_current = wow_state_new;
}
if (_pin_deployed == -1) {
last_gear_event_ms = 0;
// If there was no pilot input and state is still unknown - leave it as it is
if (gear_state_current != LG_UNKNOWN) {
gear_state_current = (_deployed == true ? LG_DEPLOYED : LG_RETRACTED);
}
} else {
LG_LandingGear_State gear_state_new;
if (_deployed) {
gear_state_new = (deployed() == true ? LG_DEPLOYED : LG_DEPLOYING);
} else {
gear_state_new = (deployed() == false ? LG_RETRACTED : LG_RETRACTING);
}
if (gear_state_new != gear_state_current) {
// we changed states, lets note the time.
last_gear_event_ms = AP_HAL::millis();
log_wow_state(wow_state_current);
}
gear_state_current = gear_state_new;
}
/*
check for height based triggering
*/
int16_t alt_m = constrain_int16(height_above_ground_m, 0, INT16_MAX);
if (hal.util->get_soft_armed()) {
// only do height based triggering when armed
if ((!_deployed || !_have_changed) &&
_deploy_alt > 0 &&
alt_m <= _deploy_alt &&
_last_height_above_ground > _deploy_alt) {
deploy();
}
if ((_deployed || !_have_changed) &&
_retract_alt > 0 &&
_retract_alt >= _deploy_alt &&
alt_m >= _retract_alt &&
_last_height_above_ground < _retract_alt) {
retract();
}
}
_last_height_above_ground = alt_m;
}
bool touch()
{
{
void crossBump()
{
/*
lift(BUMP);
holdArm();
nMotorEncoder[LeftMWheel] = 0;
while(abs(nMotorEncoder[LeftMWheel]) < 300)
{
setRight(100); setLeft(100);
}
while(abs(nMotorEncoder[LeftMWheel]) < 600)
{
setRight(50); setLeft(50);
}
while(abs(nMotorEncoder[LeftMWheel]) < 800)
{
setRight(35); setLeft(35);
}
//liftDown();
setRight(0); setLeft(0);
//resetValues(0);
*/
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1550); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
}
void blueDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN RIGHT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
void progSkills()
{
//while (SensorValue[bumper] == 0) {}
SensorValue[rightBackS] = 0;
while (abs(SensorValue[rightBackS]) < 70) moveStraight(-90);
baseStop();
// Deploy
deploy();
moveLiftAuto(1,3100);
moveLift(20);
SensorValue[rightBackS] = 0;
while (abs(SensorValue[rightBackS]) < 40) moveStraight(40);
baseStop();
/*
moveStraight(127);
wait1Msec(200);
moveStraight(-127);
wait1Msec(200);
*/
moveStraight(127);
wait1Msec(200);
intake(-1);
moveStraight( -127);
wait1Msec(200);
baseStop();
//intake(-1);
wait1Msec(2000);
moveStraight(50);
wait1Msec(100);
baseStop();
intake(1);
moveLift(-30);
wait1Msec(500);
intake(0);
liftStop();
moveStraight(-40);
wait1Msec(200);
baseStop();
SensorValue[leftBackS] = 0;
SensorValue[rightBackS] = 0;
while (((abs(SensorValue[leftBackS])+abs(SensorValue[rightBackS]))/2) < 450)
{
while (SensorValue[rightLiftS] < 4000)
{
moveLift(-70);
turnOnSpot(2,90);
}
liftStop();
}
baseStop();
intake(1);
moveStraight(70);
wait1Msec(1000);
baseStop();
SensorValue[leftBackS] = 0;
SensorValue[rightBackS] = 0;
while (((abs(SensorValue[leftBackS])+abs(SensorValue[rightBackS]))/2) < 500)
{
turnOnSpot(2,90);
}
baseStop();
moveStraight(127);
wait1Msec(2000);
baseStop();
while(SensorValue[bumper] == 0) {}
intake(-1);
while(SensorValue[bumper] == 0) {}
intake(0);
// Raise Lift
// Output
while(SensorValue[bumper] == 0) {}
intake (1);
moveStraight(127);
wait10Msec(50);
turnOnSpot(1,60);
wait10Msec(30);
turnOnSpot(2,60);
wait10Msec(30);
baseStop();
SensorValue[leftBackS] = 0;
SensorValue[rightBackS] = 0;
while (((abs(SensorValue[leftBackS])+abs(SensorValue[rightBackS]))/2) < 500)
{
turnOnSpot(1,90);
}
intake(-1);
wait10Msec(100);
}
void redSkyriseAuton()
{
//while (SensorValue[bumper] == 0) {}
deploy();
intake(1);
SensorValue[rightBackS] = 0;
while(abs(SensorValue[rightBackS]) < 200)
{
moveStraight(127);
}
baseStop();
wait1Msec(1000);
SensorValue[rightBackS] = 0;
SensorValue[leftBackS] = 0;
while(((abs(SensorValue[rightBackS]) + abs(SensorValue[leftBackS]))/2) < 500)
{
turnOnSpot(1,90);
}
baseStop();
intake(-1);
wait1Msec(5000);
intake(0);
SensorValue[rightBackS] = 0;
while(abs(SensorValue[rightBackS]) < 100)
{
moveStraight(-90);
}
baseStop();
/*
SensorValue[rightBackS] = 0;
while (abs(SensorValue[rightBackS]) < 70) moveStraight(-90);
baseStop();
// Deploy
deploy();
//Raise Lift
moveLiftAuto(1,3500);
intake(1);
moveLift(-1);
wait1Msec(300);
moveLift(0);
moveStraight(127);
wait1Msec(1000);
baseStop();
moveLiftAuto(-1,3450);
wait1Msec(500);
moveLiftAuto(1,3000);
SensorValue[rightBackS] = 0;
while (abs(SensorValue[rightBackS]) < 200)
{
moveStraight(-60);
}
baseStop();
SensorValue[rightBackS] = 0;
SensorValue[leftBackS] = 0;
while(((abs(SensorValue[rightBackS])+abs(SensorValue[leftBackS]))/2) < 480)
{
moveLeftSide(-90);
}
moveLeftSide(1);
wait1Msec(50);
baseStop();
SensorValue[rightBackS] = 0;
while (abs(SensorValue[rightBackS]) < 180)
{
moveStraight(70);
}
baseStop();
moveLiftAuto(-1,3550);
moveStraight(30);
moveLiftAuto(-1,3900);
while(abs(SensorValue[rightBackS]) < 200)
{
moveStraight(-60);
}
baseStop();
//Move Forward
//Move Backward
//Turn around
//Drop Lift
//Score Skyrise*/
}
int main() {
int i;
struct timespec start, end, diff[8];
table* t;
int widths[] = { 20, 20, 20 };
machine* server;
half_long_string hl_str;
config_server();
deploy(machines[0], "./rpc_times_server");
deploy(machines[2], "./rpc_times_server");
deploy(machines[3], "./rpc_times_server");
sleep(5);
// 1028 bytes arg
for (i = 0; i < 1024; i++) {
hl_str.str1[i] = 65 + i % 26;
hl_str.str2[i] = 65 + i % 26;
}
{
// Local call 4 bytes
printf("Calling Local (no RPC): 4 bytes");
fflush(stdout);
clock_gettime(CLOCK_REALTIME, &start);
local_call_4(1000);
clock_gettime(CLOCK_REALTIME, &end);
diff[0].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[0].tv_sec = end.tv_sec - start.tv_sec;
// Local call 2048 bytes
printf(", 2048 bytes\t\tOK\n");
clock_gettime(CLOCK_REALTIME, &start);
local_call_2048(hl_str);
clock_gettime(CLOCK_REALTIME, &end);
diff[1].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[1].tv_sec = end.tv_sec - start.tv_sec;
}
{
server = machines[4];
// Remote call 4 bytes
printf("Calling Local RPC: 4 bytes");
clock_gettime(CLOCK_REALTIME, &start);
rpc_call_4(server->ip, 1000);
clock_gettime(CLOCK_REALTIME, &end);
diff[2].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[2].tv_sec = end.tv_sec - start.tv_sec;
// Remote call 2048 bytes
printf(", 2048 bytes\t\tOK\n");
clock_gettime(CLOCK_REALTIME, &start);
rpc_call_2048(server->ip, hl_str);
clock_gettime(CLOCK_REALTIME, &end);
diff[3].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[3].tv_sec = end.tv_sec - start.tv_sec;
}
{
server = machines[2];
// Remote call 4 bytes (Remote: Fedora)
printf("Calling Remote Homogeneous: 4 bytes");
clock_gettime(CLOCK_REALTIME, &start);
rpc_call_4(server->ip, 1000);
clock_gettime(CLOCK_REALTIME, &end);
diff[4].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[4].tv_sec = end.tv_sec - start.tv_sec;
// Remote call 2048 bytes (Remote: Fedora)
printf(", 2048 bytes\t\tOK\n");
clock_gettime(CLOCK_REALTIME, &start);
rpc_call_2048(server->ip, hl_str);
clock_gettime(CLOCK_REALTIME, &end);
diff[5].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[5].tv_sec = end.tv_sec - start.tv_sec;
}
{
server = machines[2];
// Remote call 4 bytes (Remote: Alpha)
printf("Calling Remote heterogeneous: 4 bytes");
clock_gettime(CLOCK_REALTIME, &start);
rpc_call_4(server->ip, 1000);
clock_gettime(CLOCK_REALTIME, &end);
diff[6].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[6].tv_sec = end.tv_sec - start.tv_sec;
// Remote call 2048 bytes (Remote: Alpha)
printf(", 2048 bytes\t\tOK\n");
clock_gettime(CLOCK_REALTIME, &start);
rpc_call_2048(server->ip, hl_str);
clock_gettime(CLOCK_REALTIME, &end);
diff[7].tv_nsec = end.tv_nsec - start.tv_nsec;
diff[7].tv_sec = end.tv_sec - start.tv_sec;
}
printf("\nResultados\n");
printf("==========\n");
// Initialize table
t = table_initialize(3, widths);
// Write row data
table_add_row(t);
table_add_data(t, 0, 0, "");
table_add_data(t, 0, 1, "4b in, 4b out");
table_add_data(t, 0, 2, "2x1024 in, 2048 out");
// Write row data
table_add_row(t);
table_add_data(t, 1, 0, "Local call");
table_add_data(t, 1, 1, "%lis %09li ns", diff[0].tv_sec, diff[0].tv_nsec);
table_add_data(t, 1, 2, "%lis %09li ns", diff[1].tv_sec, diff[1].tv_nsec);
// Write row data
table_add_row(t);
table_add_data(t, 2, 0, "RPC (local)");
table_add_data(t, 2, 1, "%lis %09li ns", diff[2].tv_sec, diff[2].tv_nsec);
table_add_data(t, 2, 2, "%lis %09li ns", diff[3].tv_sec, diff[3].tv_nsec);
// Write row data
table_add_row(t);
table_add_data(t, 3, 0, "RPC (remota)");
table_add_data(t, 3, 1, "%lis %09li ns", diff[4].tv_sec, diff[4].tv_nsec);
table_add_data(t, 3, 2, "%lis %09li ns", diff[5].tv_sec, diff[5].tv_nsec);
// Write row data
table_add_row(t);
table_add_data(t, 4, 0, "RPC (hetero)");
table_add_data(t, 4, 1, "%lis %09li ns", diff[6].tv_sec, diff[6].tv_nsec);
table_add_data(t, 4, 2, "%lis %09li ns", diff[7].tv_sec, diff[7].tv_nsec);
// Print table
table_print(t);
return 0;
}
void CRod::init(int color)
{
if(color ==1) deploy();
else undeploy();
}
