void Camera::moveOrientation()
{
glm::vec3 oldOrientation = orientation_;
if (input_.isMouseMoving())
{
orientate(input_.mouseXRel(), input_.mouseYRel());
}
if (input_.oculus()->isMoving())
{
if (input_.oculus()->isUsingDebugHmd())
{
float x = input_.mouseXRel();
float y = input_.mouseYRel();
spdlog::get("console")->debug() << "Oculus is moving (debug): x = " << x << ", y = " << y;
orientate(x, y);
}
else
{
spdlog::get("console")->debug() << "dAngle x: " << input_.oculus()->dAngles().x;
float xRad = Utils::radToDegree(input_.oculus()->dAngles().x);
float yRad = Utils::radToDegree(input_.oculus()->dAngles().y);
spdlog::get("console")->info() << "Oculus is moving (real): xRad = " << xRad << ", yRad = " << yRad;
orientate( - xRad, - yRad);
}
}
if (oldOrientation != orientation_)
{
spdlog::get("console")->debug() << "Move camera orientation from "
<< Utils::toString(oldOrientation) << " to " << Utils::toString(orientation_);
}
}
int main(void) {
initialize();
int prog=0, bool_=1;
led_on();
delay_ms(200);
led_off();
delay_ms(200);
led_on();
delay_ms(200);
led_off();
delay_ms(200);
print_string("Start Up");
next_line();
print_string("Select a Prog");
delay_ms(1500);
clear_screen();
while(bool_){
print_string("prog " );
print_int(prog);
delay_ms(500);
if(get_sw1()==257)
{
prog++;
//if(prog>10);
// prog=0;
}
else
bool_=0;
clear_screen();
}
clear_screen();
print_string("Ready" );
next_line();
print_string("Prog " );
print_int(prog);
print_string(" Selected");
delay_ms(2000);
clear_screen();
if(prog==1)
{
orientate();
/* print_string("Collection");
one_row();
deposite();
clear_screen();
print_string("DONE");
forward(0);*/
}
else if(prog==0)
{
print_string("sensor test");
delay_ms(500);
clear_screen();
while(1)
{
forward(100);
if(digital(0)==1)
{
break;
}
}
clear_screen();
print_string("DONE");
reverse(0, 1000);
//stop();
}
else if(prog==2)
{
print_string("ATTACK");
forward(100);
//swing_left(100,250);
clear_screen();
print_string("DONE");
return 0;
//return code?
}
return 0;
}
