//--------------------------------------------------------------------
// getKeyboardOrder
//--------------------------------------------------------------------
bool getKeyboardOrder(Order &order)
{
order.reset();
char rep;
read(0,&rep,1);
// printf("read=%d\n", rep);
switch (rep) {
// motor
case 27 :
read(0,&rep,1);
read(0,&rep,1);
switch (rep) {
case 'A' : handleForward(order); break;
case 'B' : handleBackward(order); break;
case 'D' : handleLeft(order); break;
case 'C' : handleRight(order); break;
}
break;
case '8' : handleForward(order); break;
case '2' : handleBackward(order); break;
case '4' : handleLeft(order); break;
case '6' : handleRight(order); break;
// emergency stop
case '5' :
case ' ' :
setEmergencyStopOrder(order);
break;
case 'r' :
case 'R' :
order.resetRobotPos=true;
order.motorReset=1;
order.speedLeft=0;
order.speedRight=0;
break;
case 'h' :
case 'H' :
showUsage();
break;
case 'q':
case 'Q':
case '-':
quitApplication = true;
break;
default:
break;
}
checkMotorOrder(order);
return true;
}
void pacmanRound() {
switch (pacman.dir) {
case UP:
if (map[pacman.mapY + 1][pacman.mapX] != 0)
clearPerson(map, pacman.mapX, pacman.mapY + 1);
clearPerson(map, pacman.mapX, pacman.mapY);
handleUp();
break;
case DOWN:
if (map[pacman.mapY - 1][pacman.mapX] != 0)
clearPerson(map, pacman.mapX, pacman.mapY - 1);
clearPerson(map, pacman.mapX, pacman.mapY);
handleDown();
break;
case LEFT:
if (map[pacman.mapY][pacman.mapX + 1] != 0)
clearPerson(map, pacman.mapX + 1, pacman.mapY);
clearPerson(map, pacman.mapX, pacman.mapY);
handleLeft();
break;
case RIGHT:
if (map[pacman.mapY][pacman.mapX - 1] != 0)
clearPerson(map, pacman.mapX - 1, pacman.mapY);
clearPerson(map, pacman.mapX, pacman.mapY);
handleRight();
break;
}
changeDir();
drawPacman((int)pacman.screenX, (int)pacman.screenY, pacman.dir);
}
ReflowParameters ControlPage::run() {
uint32_t start;
// draw the full GUI
redrawAll();
// go into a keypress/timeout event loop
start=MillisecondTimer::millis();
for(;;) {
// each second, sample the temperature and display it
if(MillisecondTimer::hasTimedOut(start,1000)) {
drawTemperature();
start=MillisecondTimer::millis();
}
if(_buttonPressed) {
// interrupt handler has indicated that a button is down
switch(_buttonId) {
case ButtonIdentifier::LEFT:
handleLeft();
break;
case ButtonIdentifier::RIGHT:
handleRight();
break;
case ButtonIdentifier::OK:
if(handleOk()) {
// user has clicked reflow, return the parameters we gathered on this page
ReflowParameters params;
params.P=_p.getValue();
params.I=_i.getValue();
params.D=_d.getValue();
params.Leaded=_leadedChecked;
return params;
}
break;
}
// ready for the next press
_buttonPressed=false;
}
}
}
