void OnConnect(Client *c) { World world = World(500, 500); Robot* r1 = makeRobot(40, 40, Point(100.0f, 200.0f), &world); Robot* r2 = makeRobot(40, 40, Point(200.0f, 200.0f), &world); world.Add(r1); world.Add(r2); c->sendSelfInfo(); c->sendEnemyInfo(20); c->sendGameInfo(&world); c->notifyStart(); int sleepPeriod = 20; r1->Execute("MOV", "120.0"); r1->Execute("FR", ""); r1->Execute("ROT", "-0.75"); //r2->Execute("FR", ""); for(int i = 0; i < 26; i++) doLoobBody(world, c, sleepPeriod); //r1->Execute("FR", ""); //r2->Execute("FR", ""); while(true) doLoobBody(world, c, sleepPeriod); }
void Robot_func(){ // Translate and ROtatae ! // -- > glPushMatrix(); // glRotatef(robot_rot,0,robot_y,0); makeRobot(); glPopMatrix(); }
int main(int argc, char **argv) { if(!sPort.Open("/dev/ttyUSB0", 57600)) { perror("Could not Open Serial Port s0 :"); exit(0); } int angle[4]; Leg_Config leg[4]; int num_packets,t; // char ch = argv[1][0]; // sPort.WriteByte(ch); int pre; scanf("%d",&num_packets); for (int k = 0; k < num_packets; k++) { scanf("%d",&pre); if(pre == 170) { for(int i=0;i<4;i++) { for(int j=0;j<4;j++) { if(j==0) { scanf("%d",&t); angle[j] = mat[i][t+2]; } else scanf("%d",&angle[j]); } leg[i] = makeLeg(angle[0],angle[1],angle[2],angle[3]); } Robot_Config myRobot = makeRobot(leg[0],leg[1],leg[2],leg[3]); sendCommand(myRobot, pre); } if(pre ==187) { char ch; scanf(" %c",&ch); //printf("%c", ch); //ch = 'w'; sendRollCommand(ch,pre); } usleep(1000000); } //Leg_Config leg1 = getDogGaitTheta(113.9725, -113.9398, 0); //printf("%d %d %d %d\n",leg1.theta[0],leg1.theta[1],leg1.theta[2], leg1.theta[3]); return 0; }