void Player::takeIn(){ // take in the opponent's move, and deal with roll back
int i, j;
cin >> i >> j;
if (i == -1 && j == -1) {
rollBack();
cout << "Insert you move again" << endl;
takeIn();
}
else {
lastYou_ = you;
you[0] = i; you[1] = j;
you[0]--; you[1]--;
char c;
while (!checkLegal(you) ) {
cout << "Are u sure that u input something illegal y/n?" << endl;
cin >> c;
if (c == 'y') {
gameOver = MAX;
return;
}
cin >> i >> j;
you[0] = i; you[1] = j;
you[0]--; you[1]--;
}
curState.update(MIN, you);
increaseStep();
}
}
void Animation::increaseDelta()
{
if (m_currentDelta++ >= m_delta)
{
m_currentDelta = 0;
increaseStep();
}
}
void Player::move() {//make a move based on the move made by the opponent
lastMe_ = me;
sab.setStep(step);
cout << "Computing. Be patient, it takes time to become intelligent" << endl;
me = sab.searchAB(curState);
if (!checkLose(me))
curState.update(MAX, me);
else
gameOver = MIN;
increaseStep();
}
void stepMotor::step(int steps_to_move){
// declare scan object
scan scan1;
// Get current time
// Get distance from Lidar
//unsigned long startTime = micros();
//int distance = scan1.getDistance();
//unsigned long endTime = micros();
// compensate for the time it takes to read from lidar
//step_delay -= (endTime - startTime);
int steps_left = abs(steps_to_move);
// int steps_left = 0;
if(steps_to_move > 0){
direction = 1;
}
else{
direction = 0;
}
while(steps_left > 0){
unsigned long current_step_time = micros();
if(current_step_time - last_step_time >= step_delay){
// reset the speed
setSpeed(originalRPM);
last_step_time = current_step_time;
if(direction == 1){
step_number++;
if(step_number == number_of_steps)
step_number = 0;
}
else{
if(step_number == 0)
step_number = number_of_steps;
step_number--;
}
unsigned long startTime = micros();
int distance = 0;
distance = scan1.getDistance();
unsigned long endTime = micros();
// compensate for the time it takes to read from lidar
//Serial.print("Offset Calculations");
//Serial.println(endTime - startTime);
if( (endTime - startTime) > step_delay)
step_delay = 0;
else
step_delay -= (endTime - startTime);
//Serial.print("This is delay updated ");
//Serial.println(step_delay);
if(step_delay < 0)
step_delay = 0;
// Serial Print data
Serial.print(degree);
Serial.print(", ");
//Serial.print("Distance: ");
Serial.println(distance);
steps_left--;
// reset step_delay
increaseStep(step_number % 4);
}
}
}
