Exemplo n.º 1
0
    static void btl(int s, int, BS &b) {
	inc(turn(b,s)["CriticalRaise"], 1);
    }
Exemplo n.º 2
0
Point2D < T > turn(const Point2D < T > &Point, const Point2D < T > &Of, const T &alpha) {
    Point2D < T > Tmp = turn(Point2D < T > (Point.x - Of.x, Point.y - Of.y), alpha);
    return Point2D < T > (Tmp.x + Of.x, Tmp.y + Of.y);
}
Exemplo n.º 3
0
 static void btl(int s, int, BS &b) {
     if (turn(b,s)["Power"].toInt() > 0) {
         inc(turn(b,s)["CriticalRaise"], 2);
     }
 }
Exemplo n.º 4
0
void rightDeg(int d)
{
	turn(-d*PI/180.0);
}
void ZagrosMotorsCmd::skypeCallback( const std_msgs::String& msgSkype)
{ 
    numSteps = strlen( (const char* ) msgSkype.data.c_str());
    if ( numSteps > 10 ) numSteps = 2;  // likely just a mistake of holding down too many characters
    else if (numSteps > 5) numSteps = 5;
    for (int i = 1; i < numSteps; i++) if ( (msgSkype.data[i] != msgSkype.data[0]) && msgSkype.data[i] != msgSkype.data[0] + 32) return; 
          // if string is not all identical characters, allowing for first character to be a capital, return    
    cmdChar = msgSkype.data[0];  
     					
    switch(cmdChar)	// motor command
    {     
      case 'w':  // move forward
      case 'W':
      case 's':  //move backward
      case 'S':
        move();
        break;
             
      case 'd':  //turn right
      case 'D':       
      case 'a':  // turn left
      case 'A':
        turn();
        break;

  // ----------------------------------------------------------------------------------
  // this block was added to support GUI driving, e.g., not driving with 1-5 characters
  // alaina 2012-03-12
  // ----------------------------------------------------------------------------------
      case 'o':  // move forward without stopping
      case 'O':  // move forward without stopping
      	cmdChar = 'w'; // reset it to the forward character
        moveNoStop(); // accelerate and drive forward but don't stop after a certain number of steps
        break;
      case 'l':  //move backward without stopping
      case 'L':  //move backward without stopping
      	cmdChar = 's'; // reset to the backward character
        moveNoStop(); // accelerate and drive backward but don't stop after a certain number of steps
        break;
      case 'c':  //turn right without stopping
      case 'C':  //turn right without stopping
      	cmdChar = 'd'; // reset to "turn right" character
        turnNoStop(); // turn but don't stop after a certain number of steps
        break;
      case 'i':  // turn left without stopping
      case 'I':  // turn left without stopping
      	cmdChar = 'a'; // reset to "turn left" character
        turnNoStop(); // turn but don't stop after a certain number of steps
        break;
        
      case 'x':
        slowStop(); // stop with deceleration
  	break;
      case 'z':
  	stop(); // stop with no deceleration
  	break;
  // ----------------------------------------------------------------------------------
  // end block - alaina 2012-03-12
  // ----------------------------------------------------------------------------------
             
      default:  // unknown command
        //stop();  w// we need to ignore, not stop because otherwise we will stop when people are just saying stuff like "hi"
        break;
    }
}
Exemplo n.º 6
0
void driveBackFromCascade () {
	turn(-180);
	drive(36);
	turn(-90);
}
Exemplo n.º 7
0
void smugglecom_driver(int cn,int ret,int lastact)
{
	struct smugglecom_data *dat;
	struct staffer_ppd *ppd;
        int co,in,didsay=0,talkdir=0;
	struct msg *msg,*next;

        dat=set_data(cn,DRD_SMUGGLECOMDRIVER,sizeof(struct smugglecom_data));
	if (!dat) return;	// oops...

	// loop through our messages
	for (msg=ch[cn].msg; msg; msg=next) {
		next=msg->next;

                // did we see someone?
		if (msg->type==NT_CHAR) {
			
                        co=msg->dat1;

			// dont talk to other NPCs
			if (!(ch[co].flags&CF_PLAYER)) { remove_message(cn,msg); continue; }

			// dont talk to players without connection
			if (ch[co].driver==CDR_LOSTCON) { remove_message(cn,msg); continue; }
			
			// only talk every ten seconds
			if (ticker<dat->last_talk+TICKS*4) { remove_message(cn,msg); continue; }

			if (ticker<dat->last_talk+TICKS*10 && dat->current_victim!=co) { remove_message(cn,msg); continue; }

                        // dont talk to someone we cant see, and dont talk to ourself
			if (!char_see_char(cn,co) || cn==co) { remove_message(cn,msg); continue; }

			// dont talk to someone far away
			if (char_dist(cn,co)>10) { remove_message(cn,msg); continue; }

                        // get current status with player
                        ppd=set_data(co,DRD_STAFFER_PPD,sizeof(struct staffer_ppd));

                        if (ppd) {
                                switch(ppd->smugglecom_state) {
					case 0:         quiet_say(cn,"Greetings, %s!",ch[co].name);
							questlog_open(co,35);
							ppd->smugglecom_state++; didsay=1;
                                                        break;
					case 1:		quiet_say(cn,"I want you to find a book for me called 'the contraband book', which contains the names of four of the smuggler's most precious items.");
							ppd->smugglecom_state++; didsay=1;
                                                        break;
					case 2:		//quiet_say(cn,"Also, I will reward you for every piece of contraband you bring me. ");
                                                        //ppd->smugglecom_state++; didsay=1;
                                                        //break;
							// fall through intended for now
					case 3:		quiet_say(cn,"Go now, and may Ishtar be with you.");
							ppd->smugglecom_state=4; didsay=1;
                                                        break;
					case 4:		break;
					case 5:		if (questlog_isdone(co,36)) { ppd->smugglecom_state=7; break; }
							quiet_say(cn,"It lists four important items which I want you to retrieve: the Rainbow Pearls, the Crimson Ring, the Leopard Cape, and the Emerald Necklace. Find them, and bring them to me.");
							questlog_open(co,36);
							ppd->smugglecom_state++; didsay=1;
                                                        break;
					case 6:		if (ppd->smugglecom_bits==15) {
								ppd->smugglecom_state++;
								questlog_done(co,36);
							}
							break;
					case 7:		quiet_say(cn,"Thank you, you are of great help in hurting the smuggler's operations.");
							if (questlog_isdone(co,37)) { ppd->smugglecom_state=10; break; }
                                                        quiet_say(cn,"Now, as a final task, I want you to kill the smuggler's leader. Good luck!");
							questlog_open(co,37);
							ppd->smugglecom_state++; didsay=1;
							break;
					case 8:		break;
					case 9:		quiet_say(cn,"Thank you for helping us, %s, you have been of great value.",ch[co].name);
							ppd->smugglecom_state++; didsay=1;
							questlog_done(co,37);
                                                        break;
					case 10:	break;

	

				}
				if (didsay) {
					dat->last_talk=ticker;
					talkdir=offset2dx(ch[cn].x,ch[cn].y,ch[co].x,ch[co].y);
					dat->current_victim=co;
					notify_area(ch[cn].x,ch[cn].y,NT_NPC,NTID_DIDSAY,cn,0);
				}
			}
		}

                // talk back
		if (msg->type==NT_TEXT) {
			co=msg->dat3;

			if (ch[co].flags&CF_PLAYER) {
				ppd=set_data(co,DRD_STAFFER_PPD,sizeof(struct staffer_ppd));
                                switch((didsay=analyse_text_driver(cn,msg->dat1,(char*)msg->dat2,co))) {
					case 2:         if (ppd && ppd->smugglecom_state<=4) { dat->last_talk=0; ppd->smugglecom_state=0; }
							if (ppd && ppd->smugglecom_state>=5 && ppd->smugglecom_state<=6) { dat->last_talk=0; ppd->smugglecom_state=5; }
							if (ppd && ppd->smugglecom_state>=7 && ppd->smugglecom_state<=8) { dat->last_talk=0; ppd->smugglecom_state=7; }
							break;				
					case 3:		if (ch[co].flags&CF_GOD) ppd->smugglecom_bits=ppd->smugglecom_state=0;
							break;
				}
                                if (didsay) {
					talkdir=offset2dx(ch[cn].x,ch[cn].y,ch[co].x,ch[co].y);
					dat->current_victim=co;
				}
			}
		}

		// got an item?
		if (msg->type==NT_GIVE) {
			co=msg->dat1;

                        if ((in=ch[cn].citem)) {	// we still have it
				int val;

				ppd=set_data(co,DRD_STAFFER_PPD,sizeof(struct staffer_ppd));

				if (it[in].ID==IID_STAFF_SMUGGLEBOOK && ppd && ppd->smugglecom_state<=4 && (ch[co].flags&CF_PLAYER)) {
					quiet_say(cn,"Thank you for the book, %s.",ch[co].name);
                                        questlog_done(co,35);
					destroy_item_byID(co,IID_STAFF_SMUGGLEBOOK);
                                        ppd->smugglecom_state=5;
				} else if (it[in].ID==IID_STAFF_SMUGGLEPEARLS && ppd && !(ppd->smugglecom_bits&SMUGGLEBIT_PEARLS) && (ch[co].flags&CF_PLAYER)) {
					quiet_say(cn,"Thank you for bringing back the %s, %s.",it[in].name,ch[co].name);
					
					val=questlog_scale(questlog_count(co,36),1000);
                                        dlog(co,0,"Received %d exp for doing quest Contraband I for the %d. time (nominal value %d exp)",val,questlog_count(co,36)+1,1000);
					give_exp(co,min(val,level_value(ch[co].level)/4));
					
					ppd->smugglecom_bits|=SMUGGLEBIT_PEARLS;
				} else if (it[in].ID==IID_STAFF_SMUGGLERING && ppd && !(ppd->smugglecom_bits&SMUGGLEBIT_RING) && (ch[co].flags&CF_PLAYER)) {
					quiet_say(cn,"Thank you for bringing back the %s, %s.",it[in].name,ch[co].name);
					
					val=questlog_scale(questlog_count(co,36),1000);
                                        dlog(co,0,"Received %d exp for doing quest Contraband II for the %d. time (nominal value %d exp)",val,questlog_count(co,36)+1,1000);
					give_exp(co,min(val,level_value(ch[co].level)/4));
					
					ppd->smugglecom_bits|=SMUGGLEBIT_RING;
				} else if (it[in].ID==IID_STAFF_SMUGGLECAPE && ppd && !(ppd->smugglecom_bits&SMUGGLEBIT_CAPE) && (ch[co].flags&CF_PLAYER)) {
					quiet_say(cn,"Thank you for bringing back the %s, %s.",it[in].name,ch[co].name);
					
					val=questlog_scale(questlog_count(co,36),1000);
                                        dlog(co,0,"Received %d exp for doing quest Contraband III for the %d. time (nominal value %d exp)",val,questlog_count(co,36)+1,1000);
					give_exp(co,min(val,level_value(ch[co].level)/4));
					
					ppd->smugglecom_bits|=SMUGGLEBIT_CAPE;
				} else if (it[in].ID==IID_STAFF_SMUGGLENECKLACE && ppd && !(ppd->smugglecom_bits&SMUGGLEBIT_NECKLACE) && (ch[co].flags&CF_PLAYER)) {
					quiet_say(cn,"Thank you for bringing back the %s, %s.",it[in].name,ch[co].name);
					
					val=questlog_scale(questlog_count(co,36),1000);
                                        dlog(co,0,"Received %d exp for doing quest Contraband IV for the %d. time (nominal value %d exp)",val,questlog_count(co,36)+1,1000);
					give_exp(co,min(val,level_value(ch[co].level)/4));
					
					ppd->smugglecom_bits|=SMUGGLEBIT_NECKLACE;
				} else {
                                        quiet_say(cn,"Thou hast better use for this than I do. Well, if there is use for it at all.");
					if (give_char_item(co,ch[cn].citem)) ch[cn].citem=0;					
				}
				
				// let it vanish, then
				if (ch[cn].citem) {
					destroy_item(ch[cn].citem);
					ch[cn].citem=0;
				}
			}
		}

		remove_message(cn,msg);
	}

        // do something. whenever possible, call do_idle with as high a tick count
	// as reasonable when doing nothing.

	dat->amgivingback=0;

	if (talkdir) turn(cn,talkdir);

	if (dat->last_talk+TICKS*30<ticker) {
		if (secure_move_driver(cn,ch[cn].tmpx,ch[cn].tmpy,DX_LEFT,ret,lastact)) return;
	}

        do_idle(cn,TICKS);
}
Exemplo n.º 8
0
task main()
{
	gyroCal();
	move(82, 25);
	turn(90, 20);
	findLine(-40, 25);
	move(15, 25);
	lower();
	tmove(-2000, 30); // raise house
	raise();
	findLine(40, 25);
	turn(90, 20);
	tmove(-2500, 30);
	move(7, 30);
	turn(90, 20);
	findLine(-40, 25);
	lower();
	move(3, 25);
	raise(); //flip stove
	move(7, 30);
	turn(270, 25);
	tmove(-2000, 30);
	findLine(40, 30);
	move(5, 15);
	turn(70, 15);
	move(60, 30);
	turn(20, 15);
	tmove(2000, 25);
	move(-4, 20);
	turn(90, 15);
	findLine(40, 20);
	move(10, 15); // push sign
	findLine(-40, 20);
	move(-25, 30);
	turn(90, 20);
	tmove(-1500, 25);
	move(22, 20);
	turn(40, 20);
	move(40, 20); //herd food
	pmove(30, 20, 25);
	move(-5, 20);
	turn(70, 20);
	tmove(1500, 20);
	move(-2, 20);
	turn(90, 15);
	move(30, 20);
	lower();
	move(20, 20);


}
Exemplo n.º 9
0
void goOnRamp(int loc) {
	if(loc == 1) {
		turn(55,45,L_CODE);
		movein(40,21);
		turn(55,55,R_CODE);
		movein(40,35);
		turn(55,90,R_CODE);
		movein(40,33);
	} else if(loc == 2) {
		turn(55,58,L_CODE);
		movein(40,22);
		turn(55,55,R_CODE);
		movein(40,36);
		turn(55,100,R_CODE);
		movein(40,36);
	} else if(loc == 3) {
		turn(55,60,R_CODE);
		movein(40,22);
		turn(55,55,L_CODE);
		movein(40,36);
		turn(55,100,L_CODE);
		movein(40,36);
	} else{
		turn(55,45,R_CODE);
		movein(40,22);
		turn(55,55,L_CODE);
		movein(40,35);
		turn(55,90,L_CODE);
		movein(40,32);
	}
}
Exemplo n.º 10
0
void Turtle::turnLeft(){
	turn(turnAngle);
}
Exemplo n.º 11
0
void Turtle::turnRight(){
	turn(-turnAngle);
}
Exemplo n.º 12
0
    static void tu(int s, int, BS &b) {
        if (b.true_rand() % 5 == 0) {
	    turn(b,s)["TurnOrder"] = 2;
            turn(b,s)["QuickClawed"] = true;
	}
    }
Exemplo n.º 13
0
    static void m2m(int s, int, BS &b) {
	 turn(b,s)["ItemMod2Modifier"] = poke(b,s)["IMMetroCount"];
    }
Exemplo n.º 14
0
    static void btl(int s, int, BS &b) {
	if (poke(b,s)["Num"] == poke(b,s)["ItemArg"]) {
	    inc(turn(b,s)["CriticalRaise"], 2);
	}
    }
Exemplo n.º 15
0
//Move to the goal so we can pick it hookUpGoal
void moveToGoal() {
	//Sebastian
	turn(135);
	drive(23);
}
Exemplo n.º 16
0
void turnRight()
{
	string direction = "right";
	turn(direction);
}
Exemplo n.º 17
0
void driveToCascade () {
	turn(-90);
	drive(12);
	turn(90);
	drive(12);
}
Exemplo n.º 18
0
int main(int argc, char *argv[])
{
    int		index_size = 1048576;
    int		argnr = 1;
    int		i;

    if (argc < 3)
	{
	    printf("Usage: %s [-i size] <in-file> <out-file>\n\n", argv[0]);
	    printf("  -i size\tIndex size, must be a multiple of 2 (default=1048576).\n\n");
	    return 0;
	}

    while (argv[argnr][0]=='-')
	{
	    if (!strcmp(argv[argnr], "-i"))
		{
		    argnr++;
		    index_size = atoi(argv[argnr]);
		}

	    argnr++;
	}

    union byte4		mask, increment;
    mask.i = turn(index_size -1);
    increment.i = 0x80000000 / (index_size/2);

    for (i=0; i<4; i++)
	{
	    switch (mask.byte[i])
		{
		    case 0x00: case 0xff: break;
		    case 0x01: mask.byte[i] = 0x80; break;
		    case 0x03: mask.byte[i] = 0xc0; break;
		    case 0x07: mask.byte[i] = 0xe0; break;
		    case 0x0f: mask.byte[i] = 0xf0; break;
		    case 0x1f: mask.byte[i] = 0xf8; break;
		    case 0x3f: mask.byte[i] = 0xfc; break;
		    case 0x7f: mask.byte[i] = 0xfe; break;
		    default: fprintf(stderr, "Error: index_size must be multiple of 2!\n"); return -1;
		}
	}

//    printf("mask = %.8x\n", mask.i);
//    printf("increment = %.8x\n", increment.i);

    FILE	*infile = fopen(argv[argnr], "r"), *outfile = fopen(argv[argnr+1], "w");

    if (infile == NULL)
	{
	    perror("Could not open file for reading.\n\n");
	    return -1;
	}

    if (outfile == NULL)
	{
	    perror("Could not open file for writing.\n\n");
	    return -1;
	}

    buffer = malloc(buffer_size * sizeof(record));
    outbuf = malloc(outbuf_size * sizeof(off_t));

    unsigned int	current = 0;
    off_t		address = 0;
    int			outpos = 0;

//    printf("------- %.8x --------------------------------------------------------------------------------\n", current);
    outbuf[outpos++] = address;

    while (!feof(infile))
	{
	    int		num_items = fread(buffer, sizeof(record), buffer_size, infile);

	    printf("."); fflush(stdout);

	    for (i=0; i<num_items; i++)
		{
		    int		top = turn(*(unsigned int*)&buffer[i].sha1[0]);

		    while ((top&mask.i) > current)
			{
			    current+= increment.i;
//			    printf("------- %.8x -------------------------------------------------------------------------------- %i\n", current, address);
			    outbuf[outpos++] = address;

			    if (outpos >= outbuf_size)
				{
				    // Flush output-buffer:
				    fwrite(outbuf, sizeof(off_t), outbuf_size, outfile);
				    outpos = 0;
				    printf("o"); fflush(stdout);
				}
			}
/*
		    int		j;
		    for (j=0; j<20; j++)
			printf("0x%.2X,", buffer[i].sha1[j]);
		    printf("\t%.8X", buffer[i].DocID);
//		    printf("\t%.8x %.8x", top, top & mask.i);
		    printf("\n");
*/
		    address+= sizeof(record);
		}
	}

    fwrite(outbuf, sizeof(off_t), outpos, outfile);

    fclose(infile);
    fclose(outfile);
}
Exemplo n.º 19
0
task main()
{
  initializeRobot();
  int waitValue = 0;
  nNxtExitClicks = 3;
  while (nNxtButtonPressed != 0 && nNxtButtonPressed != 3){
  	nxtDisplayCenteredTextLine(0, "%d milliseconds", waitValue);
  	if (nNxtButtonPressed == 1){
  		waitValue += 1000;
  		wait1Msec(325);
  	}
  	if (nNxtButtonPressed == 2){
  		waitValue -= 1000;
 			wait1Msec(300);
 		}
  	if (waitValue > 30000)
  		waitValue = 30000;
  	if (waitValue < 0)
  		waitValue = 0;
  }

  waitForStart();

  wait1Msec(waitValue);

  int ir = 0;
  resetEncoders();
  int dist1 = 16*in;
// 1st search and raise lift
  ClearTimer(T1);
  while (leftEnc() < dist1+(43*in) && ir == 0)
  {
  	move(-a);
    if (time1[T1] < b)
  	{
  		lift(100);
    }
    else
    {
    	lift(0);
    }
    if (SensorValue[infared] >= 4 && leftEnc() > dist1)
    	ir = 1;
  }
  move(0);
// finish raising lift
  while (time1[T1] < b)
  {
  	lift(100);
  }
  lift(0);
// ir not found
  if (ir == 0)
  	ir = 2;
// align
  if (ir == 1)
  {
  	wait1Msec(100);
  	if ( (abs(nMotorEncoder[Left]) > dist1) && (abs(nMotorEncoder[Left]) < dist1+9.5*in) )
  		d = 2*in;
    if ( (abs(nMotorEncoder[Left]) > dist1+(9.5*in)) && (abs(nMotorEncoder[Left]) < dist1+(21.5*in)) )
  		d = 12*in;
    if ( (abs(nMotorEncoder[Left]) > dist1+(21.5*in)) && (abs(nMotorEncoder[Left]) < dist1+(38*in)) )
  		d = 31*in;
    if ( (abs(nMotorEncoder[Left]) > dist1+(38*in)) && (abs(nMotorEncoder[Left]) < dist1+(43*in)) )
  		d = 41*in;


    while( ((abs(nMotorEncoder[Left])/in)+1 < (dist1+d)/in) ^ ((abs(nMotorEncoder[Left])/in)-1 > (dist1+d)/in) )//while( int(abs(nMotorEncoder[Left])) != int(dist1+d) )
    {
    	if (abs(nMotorEncoder[Left]) > dist1+d)
  	    move(20);
    	if (abs(nMotorEncoder[Left]) < dist1+d)
  	    move(-20);
    }
    move(0);
  }
  if (ir == 2)
  {
  	wait1Msec(500);
  	while (abs(nMotorEncoder[Left]) > dist1)
  	  move(a);
  }
  move(0);
// dump cube
  servo[bucket] = 245;
  wait1Msec(1500);
  servo[bucket] = 130;
  wait10Msec(100);
// move to end of row and lower lift
  ClearTimer(T1);
  while (abs(nMotorEncoder[Left]) > (dist1-(6*in)))
  {
  	move(a);
    if (time1[T1] < 1400)
  	{
  		motor[Lift1] = -100;
      motor[Lift2] = -100;
    }
    else
    {
    	motor[Lift1] = 0;
      motor[Lift2] = 0;
    }
  }
  move(0);
// swing 90 deg right and lower lift
  resetEncoders();
  while (abs(nMotorEncoder[Left]) < 24*in)
  {
  	swingRight(a);
    if (time1[T1] < c)
  	{
  		motor[Lift1] = -100;
      motor[Lift2] = -100;
    }
    else
    {
    	motor[Lift1] = 0;
      motor[Lift2] = 0;
    }
  }
  move(0);
// move infront of ramp
  resetEncoders();
  while (abs(nMotorEncoder[Left]) < 21*in)
  {
  	move(a);
  	if (time1[T1] < c)
  	{
  		motor[Lift1] = -100;
      motor[Lift2] = -100;
    }
    else
    {
    	motor[Lift1] = 0;
      motor[Lift2] = 0;
    }
  }
  move(0);
// turn 90deg left
  resetEncoders();
  while (abs(nMotorEncoder[Left]) < 9.5*in)
  {
  	turn(-a);
  	if (time1[T1] < c)
  	{
  		motor[Lift1] = -100;
      motor[Lift2] = -100;
    }
    else
    {
    	motor[Lift1] = 0;
      motor[Lift2] = 0;
    }
  }
  move(0);
//finish lowering lift
  while (time1[T1] < c)
  {
  	motor[Lift1] = -100;
  	motor[Lift2] = -100;
  }
  motor[Lift1] = 0;
  motor[Lift2] = 0;
// move up ramp
  wait1Msec(250);
  resetEncoders();
  while (abs(nMotorEncoder[Left]) < 30*in)
  	move(-100);
  move(0);


}
Exemplo n.º 20
0
void Character::lookAt(Coordinate* c){
	if(path != NULL)
		stopMoving();
	turn(dirTo(c));
}
Exemplo n.º 21
0
task main()
{
	//waitForStart();
	/*wait1Msec(2000);
	motor[armLeft] = 100;
	motor[armRight] = 100;
	motor[plow] = 75;
	wait1Msec(100);
	motor[plow] = 0;
	motor[armLeft] = 0;
	motor[armRight] = 0;*/
	bool nope = false;

	nMotorEncoder[driveLeft] = 0;

	while(nMotorEncoder[driveLeft] < 4500)
		{
			motor[driveLeft] = 100;
			motor[driveRight] = 100;
		}

	motor[driveLeft] = 0;
	motor[driveRight] = 0;
	wait1Msec(200);

	nMotorEncoder[driveLeft] = 0;

	turn(-120,75);

	/*while(abs(nMotorEncoder[driveLeft]) < 2100) //1800
		{
			motor[driveLeft] = -100;
			motor[driveRight] = 100;
		}*/

	motor[driveLeft] = 0;
	motor[driveRight] = 0;
	wait1Msec(200);
	nMotorEncoder[driveLeft] = 0;


	while(SensorValue[IR] != 5)
	{
		writeDebugStreamLine("%d", SensorValue[IR]);
		//writeDebugStreamLine("%d", nMotorEncoder[driveLeft]);
		//if(time1[T1] > 6000)
			//break;
		//else
		//{

		if(nMotorEncoder[driveLeft] > 5500)
		{
			nope = true;
			break;
		}

		motor[driveLeft] = 100;
		motor[driveRight] = 100;
		//}
	}

	//time1[T1] = 0;
	motor[driveLeft] = 0;
	motor[driveRight] = 0;
	int temp = nMotorEncoder[driveLeft];

	if(!nope)
	{
		while(nMotorEncoder[driveLeft] < (temp+200))
		{
			motor[driveLeft] = 100;
			motor[driveRight] = 100;
		}

		motor[driveLeft] = 0;
		motor[driveRight] = 0;
		wait1Msec(750);
	}

	writeDebugStreamLine("%d", nMotorEncoder[driveLeft]);

	servo[cube] = 0;
	wait1Msec(800);
	servo[cube] = 125;
	wait1Msec(800);

	nMotorEncoder[driveLeft] = 0;

	/*while(SensorValue[Ultra] > 25)
	{
		motor[driveLeft] = -100;
		motor[driveRight] = -100;
	}
	motor[driveLeft] = 0;
	motor[driveRight] = 0;*/

	if(!nope)
	{
		while(nMotorEncoder[driveLeft] > (-temp - 300))
		{
			motor[driveLeft] = -100;
			motor[driveRight] = -100;
		}

		motor[driveLeft] = 0;
		motor[driveRight] = 0;
		wait1Msec(400);
	}
	else
	{
		while(nMotorEncoder[driveLeft] > (-5250 - 150))
		{
			motor[driveLeft] = -100;
			motor[driveRight] = -100;
		}

		motor[driveLeft] = 0;
		motor[driveRight] = 0;
		wait1Msec(400);
	}

	turn(-30,75);

	nMotorEncoder[driveLeft] = 0;

	/*while(nMotorEncoder[driveLeft] > -4500)
	{
		motor[driveLeft] = -100;
		motor[driveRight] = -100;
	}*/
	motor[driveLeft] = -100;
	motor[driveRight] = -100;
	wait1Msec(1500);

	motor[driveLeft] = 0;
	motor[driveRight] = 0;
	wait1Msec(300);

	turn(-75,75);

	nMotorEncoder[driveLeft] = 0;

	/*while(nMotorEncoder[driveLeft] > -3800)
	{
		motor[driveLeft] = -100;
		motor[driveRight] = -100;
	}*/

	motor[driveLeft] = -100;
	motor[driveRight] = -100;
	wait1Msec(1500);

	motor[driveLeft] = 0;
	motor[driveRight] = 0;
}
Exemplo n.º 22
0
task main()
{
	init();
	waitForStart();
	StartTask(keepHeading);
	StartTask(raiseLiftWhile);
	driveSonar(1,25,50);
	allStop();
	wait1Msec(100);
	backward(20);
	wait1Msec(700);
	sticksDown();
	wait1Msec(250);
	allStop();
	wait1Msec(300);
  //LIFT

	releaseBalls();
	allStop();
	wait1Msec(3000);
	retainBalls();
	allStop();
	wait1Msec(750);
  lowerLift(80);
  while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
  {
  }
	allStop();
	wait1Msec(100);
	turn(1,19,70);
	allStop();
	wait1Msec(100);
	drive(0,2.0,100);
	allStop();
	wait1Msec(100);
	turn(0,170,100);
	allStop();
	wait1Msec(100);
	sticksUp();
	drive(1,.3,100);
	allStop();
	wait1Msec(100);
	turn(0,180,100);
	allStop();
	wait1Msec(100);
	//while(SensorValue[sonarSensor]>40){
	//	backward(100);
	//}
	//turnToGlobalHeading(-15);
	allStop();
	wait1Msec(100);
	drive(1,1.3,100);
	allStop();
	wait1Msec(100);
	turnToGlobalHeading(-78);
	allStop();
	wait1Msec(100);
	while(SensorValue[sonarSensor]>25){
		backward(30);
	}
	allStop();
	wait1Msec(100);
	while(SensorValue[sonarSensor]<200){
		left(50);
	}
	allStop();
	wait1Msec(100);
	turn(0,18,100);
	allStop();
	wait1Msec(100);
	driveSonar(1,25,50);
	backward(30);
	wait1Msec(700);
	sticksDown();
	wait1Msec(250);
	allStop();
	turn(1,17,70);
	allStop();
	wait1Msec(100);
	drive(0,2.7,100);
	allStop();
	wait1Msec(100);
	turn(0,175,100);
	allStop();
	wait1Msec(50);
	sticksUp();
	drive(1,.8,100);
}
Exemplo n.º 23
0
void leftDeg(int d)
{
	turn(d*PI/180.0);
}
Exemplo n.º 24
0
void IRramp(int left , int delay)
{
	int mult = 1;
	int beacon = 0;
	int boost = 0;

	if(left) //account for starting position
		mult = - 1;
	else
		mult = 1;
	if(delay) // wait for other team but go faster
	{
		wait1Msec(5000);
		boost = 20;
	}
	else
		boost = 0;

	if(!left)
	{
		// get intp initial position
		move(mult * 10, 20 + boost);
		turn(mult * -42, 40 + boost);

		//Raise the arm
		while(nMotorEncoder[arms] > -4900)
		{
			motor[arms] = -30;
		}
		motor[arms] = 0;

		wait10Msec(25);
	}
	else
	{
		//get into initial postion
		move(mult * 15, 20 + boost);
		turn(mult * -44, 40 + boost);
		move(-25, 20);
		wait10Msec(25);
		//raise the arm
		while(nMotorEncoder[arms] > -4900)
		{
			motor[arms] = -30;
		}
		motor[arms] = 0;

	}
	//check at each position
	if(getSeeker())
	{
		beacon = 1;
		writeDebugStreamLine("found becon at 1");
		dump(left);
	}

	if(!beacon)
	{
		adjustedMove(mult * 25, 20 + boost);
		wait1Msec(250);
		if(getSeeker() && !beacon)
		{
			beacon = 2;
			writeDebugStreamLine("found becon at 2");
			dump(left);
		}
		if(!beacon)
		{
			adjustedMove( mult * 55, 20 + boost);
			wait10Msec(25);
			if(getSeeker() && !beacon)
			{
				beacon = 3;
				writeDebugStreamLine("found becon at 3");
				dump(left);
			}
			if(!beacon)
			{
				adjustedMove(mult * 25, 20 + boost);
				wait10Msec(25);
				beacon = 4;
				writeDebugStreamLine("found becon at 4");
				//arived at last basket w/o sensing beacon, dump regardless
				dump(left);
			}
		}
	}
	wait10Msec(50);
	//decide how far to go based on position
	int add = 0;
	if(beacon == 1)
		add = 100;
	else if(beacon == 2)
		add = 75;
	else if(beacon == 3)
		add = 25;
	else
		add = 0;

	if(left)
		add += 25;

	//lift the wrist back up
	while(nMotorEncoder[wrist1] < -5)
	{
		motor[wrist1] = 20;
		motor[wrist2] = 20;
	}
	motor[wrist1] = 0;
	motor[wrist2] = 0;

	//drive to end of baskets
	if(left)
	{
		turn(-90, 50 + boost);
		move(mult * (15+add), 50 + boost);

		while(nMotorEncoder[arms] < -250)
		{
			motor[arms] = 40;
		}
		motor[arms] = 0;
	}
	else
	{
		turn(-90, 50 + boost);
		while(nMotorEncoder[arms] < -250)
		{
			motor[arms] = 40;
		}
		motor[arms] = 0;
		move(mult * (15+add), 50 + boost);
	}
	//two-point turn in tight space
	turn(mult * 45, 50 );
	move(mult * 25, 50 + boost);
	turn(mult * 30, 50 );
	move(mult * 80, 50 + boost);
	turn(-90, 50 + boost);
	//Drive onto ramp
	move(-50, 70 + boost);
	move(-40, 90);
}
Exemplo n.º 25
0
SHAPE_LINE_CHAIN PNS_MEANDER_SHAPE::genMeanderShape( VECTOR2D aP, VECTOR2D aDir,
        bool aSide, PNS_MEANDER_TYPE aType, int aAmpl, int aBaselineOffset )
{
    const PNS_MEANDER_SETTINGS& st = Settings();
    int cr = cornerRadius();
    int offset = aBaselineOffset;
    int spc = spacing();

    if( aSide )
        offset *= -1;

    VECTOR2D dir_u_b( aDir.Resize( offset ) );
    VECTOR2D dir_v_b( dir_u_b.Perpendicular() );

    if( 2 * cr > aAmpl )
    {
        cr = aAmpl / 2;
    }

    if( 2 * cr > spc )
    {
        cr = spc / 2;
    }

    m_meanCornerRadius = cr;

    SHAPE_LINE_CHAIN lc;

    start( &lc, aP + dir_v_b, aDir );

    switch( aType )
    {
    case MT_EMPTY:
    {
        lc.Append( aP + dir_v_b + aDir );
        break;
    }
    case MT_START:
    {
        arc( cr - offset, false );
        uShape( aAmpl - 2 * cr + std::abs( offset ), cr + offset, spc - 2 * cr );
        forward( std::min( cr - offset, cr + offset ) );
        forward( std::abs( offset ) );

        break;
    }

    case MT_FINISH:
    {
        start( &lc, aP - dir_u_b, aDir );
        turn ( 90 );
        forward( std::min( cr - offset, cr + offset ) );
        forward( std::abs( offset ) );
        uShape( aAmpl - 2 * cr + std::abs( offset ), cr + offset, spc - 2 * cr );
        arc( cr - offset, false );
        break;
    }

    case MT_TURN:
    {
        start( &lc, aP - dir_u_b, aDir );
        turn( 90 );
        forward( std::abs( offset ) );
        uShape ( aAmpl - cr, cr + offset, spc - 2 * cr );
        forward( std::abs( offset ) );
        break;
    }

    case MT_SINGLE:
    {
        arc( cr - offset, false );
        uShape( aAmpl - 2 * cr + std::abs( offset ), cr + offset, spc - 2 * cr );
        arc( cr - offset, false );
        lc.Append( aP + dir_v_b + aDir.Resize ( 2 * st.m_spacing ) );
        break;
    }

    default:
        break;
    }

    if( aSide )
    {
        SEG axis ( aP, aP + aDir );

        for( int i = 0; i < lc.PointCount(); i++ )
            lc.Point( i ) = reflect( lc.CPoint( i ), axis );
    }

    return lc;
}
Exemplo n.º 26
0
Vector2D < T > turn(const Vector2D < T > &Vector, const Point2D < T > &Of, const T &alpha) {
	Point2D < T > Tmp = turn(Point2D < T >(-Of.x + Vector.x, -Of.y + Vector.y), alpha);
    return Vector2D < T > (Of.x + Tmp.x, Of.y + Tmp.y);
}
Exemplo n.º 27
0
 static void ts(int s, int, BS &b) {
     addFunction(turn(b,s), "BeforeTargetList", "FocusEnergy", &btl);
 }
Exemplo n.º 28
0
//Used to drive off the ramp, activated by the public boolean instance field, startOnRamp
void driveOffRamp() {
	drive(70);
	turn(-90);
	drive(47);
}
Exemplo n.º 29
0
int othello_ai::turn(othello16 o_upper, int player, int backpoint, int depth) {
	// 检查超时
	int runtime = get_time();
	if (runtime > 1800) {
		std::cerr<<"time "<<runtime<<" overflow"<<std::endl;
		return (player == o.mycolor) ? MAXVALUE : -MAXVALUE;
	}
	-- depth;

	// std::cerr<<"player "<<player<<" my color "<<o.mycolor<<std::endl;
	othello16 o_t;
	int value_t, value_mark;
	std::pair<int, int> step_mark (-1, -1);
	// 初始化value_mark
	if (player == o.mycolor) {
		value_mark = -MAXVALUE;
	} else {
		value_mark = MAXVALUE;
	}

	std::vector< std::pair<int, int> > nextlist = o_upper.allmove(player);
	std::string map = o_upper.tostring();

	if ( nextlist.size() == 0 ) {
		// 无可下点
		std::cerr<<"nowhere to move ";
		return (player == o.mycolor) ? -MAXVALUE : MAXVALUE;
	} else if (depth <= 0) {

		// 到达最深层,计算估价函数值
		// std::cerr<<"tree hight "<<depth<<std::endl;
		std::vector< std::pair<int, int> >::iterator it;
		for (it = nextlist.begin() ; it != nextlist.end(); ++ it) {
			// 初始化当前棋盘
			o_t.init(o.mycolor, map);
			// 落子
			o_t.play(player, (*it).first, (*it).second);
			// string2map(o_t.tostring());
			value_t = evaluation(o_t, player);
			std::cerr<<std::endl<<"depth "<<DEPTH - depth<<":";
			for (int k = 0; k < DEPTH - depth; k ++) 
				std::cerr<<"    ";
			std::cerr<<"leaf ("<<(*it).first<<", "<<(*it).second<<") value "<<value_t<<", ";
			if ( (player == o.mycolor && value_t >= value_mark)
				|| (player != o.mycolor && value_t <= value_mark) ) {
					value_mark = value_t;
			}
			// 剪枝
			if (player == o.mycolor && value_mark >= backpoint) {
				std::cerr<<"cut beta parent value "<<backpoint<<" current value "<<value_mark<<std::endl;
				return value_mark;
			} else if (player != o.mycolor && value_mark <= backpoint) {
				std::cerr<<"cut alpha parent value "<<backpoint<<" current value "<<value_mark<<std::endl;
				return value_mark;
			}
		}
		return value_mark;
	} else {

		// 普通情况
		std::vector< std::pair<int, int> >::iterator it;
		for (it = nextlist.begin() ; it != nextlist.end(); ++ it) {
			// 初始化当前棋盘
			o_t.init(o.mycolor, map);
			// 落子
			o_t.play(player, (*it).first, (*it).second);
			// string2map(o_t.tostring());
			value_t = turn(o_t, 3 - player, value_mark, depth);
			if (value_t == MAXVALUE || value_t == -MAXVALUE) {
				// 子问题超时
				break;
			}
			std::cerr<<std::endl<<"depth "<<DEPTH - depth<<":";
			for (int k = 0; k < DEPTH - depth; k ++) 
				std::cerr<<"    ";
			std::cerr<<"node ("<<(*it).first<<", "<<(*it).second<<") value "<<value_t<<", ";
			if ( (player == o.mycolor && value_t >= value_mark)// 己方落子
				|| (player != o.mycolor && value_t <= value_mark) ) {//对方落子
					value_mark = value_t;
					step_mark.first = (*it).first;
					step_mark.second = (*it).second;
			}
			// 剪枝
			if (player == o.mycolor && value_mark >= backpoint) {
				std::cerr<<"cut beta parent value "<<backpoint<<" current value "<<value_mark<<std::endl;
				break;
			} else if (player != o.mycolor && value_mark <= backpoint) {
				std::cerr<<"cut alpha parent value "<<backpoint<<" current value "<<value_mark<<std::endl;
				break;
			}
		}
		if (depth = DEPTH - 1) {
			next.first = step_mark.first;
			next.second = step_mark.second;
		}
		return value_mark;
	}
}
Exemplo n.º 30
0
 static void atl(int s, int, BS &b) {
     if (turn(b,s).value("ActivateLifeOrb").toBool() && !b.hasWorkingAbility(s, Ability::MagicGuard)) {
         //b.sendItemMessage(21,s);
         b.inflictDamage(s,b.poke(s).totalLifePoints()/10,s);
     }
 }