void rampDrive(int driveTarget)
{
int direction = 1;
if( driveTarget < 0 )
{
direction = -1;
driveTarget *= -1;
}
nMotorEncoder[LeftMWheel] = 0;
int distance = 0;
int pwr = 0;
while(distance < driveTarget )
{
//distance = abs ( nMotorEncoder[leftBack] + nMotorEncoder[rightBack] ) / 2;
distance = abs(nMotorEncoder[LeftMWheel]);
if( distance <= driveTarget / 2)
pwr = distance / 5 + 20;
else
pwr = ( driveTarget - distance ) / 10 + 20;
pwr *= direction;
setLeft(pwr);
setRight(pwr);
}
setLeft(0);
setRight(0);
}
// time is in milliseconds
// distance is in tenths of inches
// direction is 1 or -1 -- positive is forwards
void moveStraight(int direction, int time, int driveTarget)
{
nMotorEncoder[LeftMWheel] = 0;
int distance = 0;
float pwr = 0;
while(distance < driveTarget )
{
distance = abs(nMotorEncoder[LeftMWheel]);
//initial version
//pwr = 64 * sin(distance * PI / driveTarget);
//improved version
//SHITTY PID:
//pwr = 0.05 * (driveTarget - distance) + 0.0003 * (0.05 * (driveTarget * distance - 0.5 * (distance * distance)));
if( distance <= driveTarget / 2)
pwr = distance / 5 + 20; //TODO: figure out how this works
else
pwr = ( driveTarget - distance ) / 10 + 20;
//pwr = -1 * (1.11 * sqrt(driveTarget) - 10) * cos(distance * 2 * PI / driveTarget) + (1.11 * sqrt(distance)) + 10;
pwr *= direction;
setLeft(pwr);
setRight(pwr);
}
setLeft(0);
setRight(0);
}
// time is in milliseconds
// distance is in tenths of inches
// direction is 1 or -1 -- positive is forwards
void moveStraight(int direction, int time, int driveTarget)
{
nMotorEncoder[LeftMWheel] = 0;
int distance = 0;
float pwr = 0;
while(distance < driveTarget )
{
distance = abs(nMotorEncoder[LeftMWheel]);
// works
if( distance <= driveTarget / 2)
pwr = distance / 5 + 20; //TODO: figure out how this works
else
pwr = ( driveTarget - distance ) / 10 + 20;
// test old formula
//pwr = oldPwr(driveTarget, distance);
// test new formula
//pwr = newPwr(driveTarget, distance);
pwr *= direction;
setLeft(pwr);
setRight(pwr);
} // end while loop
setLeft(0);
setRight(0);
}
void PlayerInputStruct::fromGameEvent(const GameControl &control, bool state)
{
switch(control)
{
case GameControl::ACTION:
setAction(state);
break;
case GameControl::UP:
if(state)
setUp(100000);
else
setUp(0);
break;
case GameControl::DOWN:
if(state)
setDown(100000);
else
setDown(0);
break;
case GameControl::LEFT:
if(state)
setLeft(100000);
else
setLeft(0);
break;
case GameControl::RIGHT:
if(state)
setRight(100000);
else
setRight(0);
break;
case GameControl::BUTTON1:
setButton1(state);
break;
case GameControl::BUTTON2:
setButton2(state);
break;
case GameControl::BUTTON3:
setButton3(state);
break;
case GameControl::BUTTON4:
setButton4(state);
break;
case GameControl::BUTTON5:
setButton5(state);
break;
case GameControl::BUTTON6:
setButton6(state);
break;
default:
//Nothing to do; control is not handled by the automatic conversion.
break;
}
}
void pickUpBall(int goals)
{
resetValues(0);
intake(1);
wait10Msec(30);
int current = 0;
while(current < goals * 250)
{
setLeft(25); setRight(25);
current = nMotorEncoder[LeftMWheel];
}
intake(0);
setLeft(0); setRight(0);
}
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);
}
task usercontrol()
{
// Flags
// Servo / program initialization:
zeroEncoders();
// Main loop:
waitForStart();
while (true)
{
getJoystickSettings(joystick);
setLeft(100);
setRight(100);
}
return;
}
ExpressionNode::ExpressionNode(const ExpressionNode & other): //copy constructor
type(other.getType()), operation(other.getOperation()), activechildren(other.getOperation()->getArity()),
right(0), firstChild(0), variable(other.getVariable()), value(other.getValue())
{
setRight(other.getRight());
setFirstChild(other.getFirstChild()); // automatically also sets other children
}
void Camera::updateCameraRotation() {
double xPos, yPos;
glfwGetCursorPos(m_window, &xPos, &yPos); // get current mouse position
// if mouse still in window center, no need to recalculate view matrix
if (xPos == m_windowWidth / 2 && yPos == m_windowHeight / 2) {
return;
}
centerMouse();
m_horizontalAngle += float(m_windowWidth / 2 - xPos) * m_mouseSpeed;
m_verticalAngle += float(m_windowHeight / 2 - yPos) * m_mouseSpeed;
glm::vec3 oldLookIn = getLookAt() - getCenter();
glm::vec3 lookInHorizontal = glm::vec3(sin(m_horizontalAngle), oldLookIn.y, cos(m_horizontalAngle));
glm::vec3 lookInVertical = glm::vec3(oldLookIn.x * cos(m_verticalAngle), sin(m_verticalAngle), oldLookIn.z * cos(m_verticalAngle));
glm::vec3 newLookIn = glm::normalize(lookInHorizontal + lookInVertical);
setLookAt(getCenter() + newLookIn);
float rightHorizontalAngle = m_horizontalAngle - PI / 2.0f;
setRight(glm::vec3(sin(rightHorizontalAngle), getRight().y, cos(rightHorizontalAngle)));
setUp(glm::normalize(glm::cross(getRight(), newLookIn)));
}
Snake::Snake():AnimUT()
{
#ifdef debug
qDebug("Snake launched");
#endif
controls->addAnimationControl(animate, 200);
cellSize = 15;
nbCells = 20;
// controls
snakeItem = new SnakeItem(cellSize, nbCells);
controls->addLabel("Movements");
QPushButton *upBtn = controls->addButton("Up");
connect(upBtn, SIGNAL(released()), snakeItem, SLOT(setUp()));
QPushButton *downBtn = controls->addButton("Down");
connect(downBtn, SIGNAL(released()), snakeItem, SLOT(setDown()));
QPushButton *leftBtn = controls->addButton("Left");
connect(leftBtn, SIGNAL(released()), snakeItem, SLOT(setLeft()));
QPushButton *rightBtn = controls->addButton("Right");
connect(rightBtn, SIGNAL(released()), snakeItem, SLOT(setRight()));
controls->addDivider();
score = controls->addLabel("Score : 0");
connect(snakeItem, SIGNAL(updateScore(int)), this, SLOT(updateScore(int)));
// viewer
drawBorders();
viewer->addItem(snakeItem);
}
bool AnchorsBase::setAnchor(const Qt::AnchorPoint &p, QWidget *target, const Qt::AnchorPoint &point)
{
if (!target) {
return false;
}
AnchorsBase *base = AnchorsBasePrivate::getWidgetAnchorsBase(target);
if (!base) {
base = new AnchorsBase(target);
}
const AnchorInfo *info = base->d_func()->getInfoByPoint(point);
switch (p) {
case Qt::AnchorTop:
return setTop(info);
case Qt::AnchorBottom:
return setBottom(info);
case Qt::AnchorLeft:
return setLeft(info);
case Qt::AnchorRight:
return setRight(info);
case Qt::AnchorHorizontalCenter:
return setHorizontalCenter(info);
case Qt::AnchorVerticalCenter:
return setVerticalCenter(info);
default:
return false;
}
}
PixelRegion PixelRegion::globalCut(Side side, int p) {
if (!lineIntersect(side, p)) {
return PixelRegion({ 0, 0 }, { 0, 0 });
}
PixelRegion cutOff(*this);
int cutSize = 0;
switch (side) {
case LEFT:
setLeft(p);
cutOff.setRight(p - cutSize);
break;
case TOP:
setTop(p);
cutOff.setBottom(p - cutSize);
break;
case RIGHT:
setRight(p);
cutOff.setLeft(p + cutSize);
break;
case BOTTOM:
setBottom(p);
cutOff.setTop(p + cutSize);
break;
}
return cutOff;
}
void GuiSetBorder::mousePressEvent(QMouseEvent * e)
{
if (e->y() > e->x()) {
if (e->y() < height() - e->x()) {
if (left_.enabled) {
setLeft(!left_.set);
// emit signal
leftSet(left_.set);
}
} else {
if (bottom_.enabled) {
setBottom(!bottom_.set);
// emit signal
bottomSet(bottom_.set);
}
}
} else {
if (e->y() < height() - e->x()) {
if (top_.enabled) {
setTop(!top_.set);
// emit signal
topSet(top_.set);
}
} else {
if (right_.enabled) {
setRight(!right_.set);
// emit signal
rightSet(right_.set);
}
}
}
update();
// emit signal
clicked();
}
void GuiSetBorder::setAll(bool border)
{
setLeft(border);
setRight(border);
setTop(border);
setBottom(border);
}
BPlusNode::BPlusNode(IXFileHdr &hdr, PFPageHandle &page, bool load)
: len_(hdr.len)
, type_(hdr.type)
, capacity_(hdr.capacity)
, page_(page)
{
// allocPage 用于表示这个页面是否为新分配的
// 布局如下
// 一共n个key,占据 n * len_字节的大小
// 一共n个rid,占据 n * sizeof(RID) 字节的大小
// 一个字节用于记录一共有多少个key,占据sizeof(numOfKeys_)字节的大小
// 一个left字段,占据sizeof(Page)字节的大小
// 一个right字段,占据了sizeof(Page)字节的大小
Ptr addr = page.rawPtr();
num_ = page.page();
keys_ = addr;
rids_ = reinterpret_cast<RID *>(addr + len_ * capacity_);
if (load) { // 说明这个页面实际上已经初始化过了
size_ = size();
left_ = left();
right_ = right();
}
else { // 这里需要重新初始化
size_ = 0;
setSize(0);
setLeft(-1);
setRight(-1);
page.setDirty();
}
}
void buildBinaryTree(pin_node root, int i)
{
int v;
pin_node q, p;
p = q = root;
while (q) {
p = q;
v = info(p);
if (v == i) {
printf("duplicate\n");
q = NULL;
} else if (v < i) {
q = q->left;
} else {
q = q->right;
}
}
if (p) {
int v = p->val;
if (v < i) {
setLeft(p, i);
} else {
setRight(p, i);
}
}
}
void Rect::expand( const QPoint& point )
{
setLeft ( qMin(point.x(), left() ) );
setRight ( qMax(point.x(), right() ) );
setTop ( qMax(point.y(), top() ) );
setBottom( qMin(point.y(), bottom()) );
};
bool
DCirfile::NextItemStr(const char *pos)
{
CurrLeft = pos;
for (;;) {
CurrLeft = GetLinePos(CurrLeft);
if (!CurrLeft)
return false;
//skipLine();
if (isalnum(*CurrLeft)
|| (ispunct(*CurrLeft)
&& ((*CurrLeft != ';')
|| (*(CurrLeft + 1) == '=')) // deleted setting
&& (*CurrLeft != '['))
|| (*CurrLeft < 0)) { // allow high-bit chars
if (*CurrLeft == '\\')
CurrLeft++;
break;
}
if ((*CurrLeft == '\0')
|| (*CurrLeft == '[')) {
CurrLeft = CurrRight = NULL;
LeftLen = RightLen = 0;
return false;
}
}
setRight();
return true;
}
bool
DCirfile::FindNum(const char *sect, uns num)
{
CurrLeft = sect;
CurrPos = 0;
for (;;) {
CurrLeft = GetLinePos(CurrLeft);
if (!CurrLeft)
return false;
//skipLine();
if ((*CurrLeft == ';')
|| (*CurrLeft == '\r')
|| (*CurrLeft == '\n'))
continue;
if ((*CurrLeft == '\0')
|| (*CurrLeft == '[')) {
CurrLeft = CurrRight = NULL;
LeftLen = RightLen = 0;
CurrPos = 0;
return false;
}
CurrPos++;
if (isdigit(*CurrLeft)) {
if (atol(CurrLeft) == num)
break;
}
}
setRight();
return true;
}
void GfxCropDialog::bindEvents()
{
// Left text box
text_left_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_left_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setLeft();
e.Skip();
});
// Top text box
text_top_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_top_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setTop();
e.Skip();
});
// Right text box
text_right_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_right_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setRight();
e.Skip();
});
// Bottom text box
text_bottom_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_bottom_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setBottom();
e.Skip();
});
// Absolute/Relative radio buttons
rb_absolute_->Bind(wxEVT_RADIOBUTTON, [&](wxCommandEvent&) { updateValues(); });
rb_relative_->Bind(wxEVT_RADIOBUTTON, [&](wxCommandEvent&) { updateValues(); });
}
// -1 is max left
// 0 is max forward
// 1 is max right
void MotorController::arc(double direction, double speedScale) {
if (abs(direction) > 1)direction /= abs(direction); //makes direction between 1 & -1
printf("Direction: %f\n", direction);
if (direction < 0) { //left
setLeft((int) (LEFT_MAX * (1 - abs((int) direction)) *
speedScale)); //sets the left motor to something less than the max speed
setRight((int) (RIGHT_MAX * (speedScale - 0.05))); //sets the right motor to max speed
} else if (direction > 0) { //right
setLeft((int) (LEFT_MAX * speedScale)); //sets the left motor the max speed
setRight((int) (RIGHT_MAX * (1 - direction) *
speedScale)); //sets the right motor to something less than the max speed
} else if (direction == 0) {
moveForward();
}
}
/*!
Constructs a rectangle with \e topLeft the top-left corner location
and \e bottomRight the bottom-right corner.
*/
vpRect::vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
{
this->left = topLeft.get_u();
this->top = topLeft.get_v();
setBottom( bottomRight.get_v() );
setRight( bottomRight.get_u() );
};
void PixelRegion::setSide(Side side, int pos) {
switch (side) {
case LEFT: setLeft(pos); break;
case TOP: setTop(pos); break;
case RIGHT: setRight(pos); break;
case BOTTOM: setBottom(pos); break;
}
}
SE_Value& SE_Value::operator=(const SE_Value& right)
{
if(this == &right)
return *this;
clear();
setRight(right);
return *this;
}
OOModel::Expression* AssignmentDescriptor::create(const QList<OOModel::Expression*>& operands)
{
auto ae = new OOModel::AssignmentExpression();
ae->setOp(assignmentType_);
ae->setLeft(operands.first());
ae->setRight(operands.last());
return ae;
}
void
RightLogger::setRight(const char *rightName)
{
if (rightName) // NULL bad for string class and au_to_text()
{
string tmpStr(rightName); // setRight() takes a string&
setRight(tmpStr);
}
}
struct tree *createTree(int data, struct tree *left, struct tree *right) {
struct tree *structtree = malloc(sizeof(struct tree));
assert(structtree!=NULL); //check to make sure structtree exist
structtree->value = data; //give value to the tree
structtree->parent = NULL; //set parent
setLeft(structtree, left); //set child
setRight(structtree, right); //set child
return structtree;
}
QRectF ScriptEditorItem::boundingRect() const
{
auto br = QGraphicsTextItem::boundingRect();
br.setBottom(br.bottom() + border);
br.setTop(br.top() - border);
br.setLeft(br.left() - border);
br.setRight(br.right() + border);
return br;
}
void setTemp()
{
//initalises temp, get sensor readings and sets the local temp to a normalised neural vector
clearTemp();
setLeft();
setCentre();
setRight();
normaliseTemp();
}
void PlayerInputAbs::swapSides()
{
bool left = mFlags & F_LEFT;
bool right = mFlags & F_RIGHT;
setLeft(right);
setRight(left);
mTarget = RIGHT_PLANE - mTarget;
}
