// Draw a little stick figure
void drawStickFigure(int offset)
{
nxtEraseRect(0, 0, 99, 50);
nxtDrawCircle(offset + 43, 40, 15);
nxtDrawLine(offset + 50,25,offset + 50,10);
nxtDrawLine(offset + 43, 22, offset + 58, 22);
nxtDrawLine(offset + 43, 0, offset + 50, 10);
nxtDrawLine(offset + 50, 10, offset + 58, 0);
}
task main () {
int _color = 0;
string _tmp;
int red = 0;
int green = 0;
int blue = 0;
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "COLOUR");
nxtDisplayCenteredTextLine(3, "SMUX Test");
nxtDisplayCenteredTextLine(5, "Connect SMUX to");
nxtDisplayCenteredTextLine(6, "S1 and CS to");
nxtDisplayCenteredTextLine(7, "SMUX Port 1");
wait1Msec(2000);
eraseDisplay();
while (true) {
// Read the currently detected colour from the sensor
_color = HTCSreadColor(HTCOLOR);
// If colour == -1, it implies an error has occurred
if (_color < 0) {
nxtDisplayTextLine(4, "ERROR!!");
nxtDisplayTextLine(5, "HTCSreadColor");
wait1Msec(2000);
StopAllTasks();
}
// Read the RGB values of the currently colour from the sensor
// A return value of false implies an error has occurred
if (!HTCSreadRGB(HTCOLOR, red, green, blue)) {
nxtDisplayTextLine(4, "ERROR!!");
nxtDisplayTextLine(5, "HTCSreadRGB");
wait1Msec(2000);
StopAllTasks();
}
// Read the RGB values of the currently colour from the sensor
// A return value of false implies an error has occurred
nxtDisplayCenteredTextLine(0, "Color: %d", _color);
nxtDisplayCenteredBigTextLine(1, "R G B");
nxtEraseRect(0,10, 99, 41);
nxtFillRect( 0, 10, 30, 10 + (red+1)/8);
nxtFillRect(35, 10, 65, 10 + (green+1)/8);
nxtFillRect(70, 10, 99, 10 + (blue+1)/8);
StringFormat(_tmp, " %3d %3d", red, green);
nxtDisplayTextLine(7, "%s %3d", _tmp, blue);
wait1Msec(100);
}
}
task updateHUD () {
int x = 0;
int y = 0;
while (true) {
nxtEraseRect(4,50, 44,10);
nxtDisplayTextLine(2, " H: %3d", angleI/100);
nxtDisplayTextLine(3, " X: %3d", x_accel/100);
nxtDisplayTextLine(4, " Y: %3d", y_accel/100);
nxtDisplayTextLine(5, " Z: %3d", z_accel/100);
nxtDrawCircle(84, 50, 4);
nxtDrawCircle(4, 50, 40);
x = (cosDegrees(-1 * (angleI/100 - 90)) * 20) + 24;
y = (sinDegrees(-1 * (angleI/100 - 90)) * 20) + 30;
nxtDrawLine(24, 30, x, y);
nxtEraseRect(0,0, 99, 8);
nxtDrawRect(0,0, 99, 8);
nxtFillRect(50,0, (float)(rotI / 150)/100.0 *50 + 50, 8);
wait1Msec(100);
}
}
void doDrawPoint(int top, int x_pos, int y_pos) {
nxtEraseRect(x_pos, 63, x_pos+5, 0);
if (displayUnit == showcurrent)
nxtDisplayCenteredTextLine(7, "Max: %d mA", top);
else if (displayUnit == showvoltage)
nxtDisplayCenteredTextLine(7, "Max: %d mV", top);
nxtDisplayStringAt(0, 12, "0");
nxtDrawLine(10, 10, 10, 60);
nxtDrawLine(10, 10, 15, 10);
nxtDrawLine(10, 35, 15, 35);
nxtDrawLine(10, 60, 15, 60);
nxtSetPixel(x_pos, y_pos);
}
//Retrieve data from the sound sensor
void i2c_read_registers_text(ubyte register_2_read, int message_size, int return_size)
{
memset(I2Creply, 0, sizeof(I2Creply));
message_size = message_size+3;
I2Cmessage[0] = message_size; // Messsage Size
I2Cmessage[1] = ARDUINO_ADDRESS;
I2Cmessage[2] = register_2_read; // Register
sendI2CMsg(S1, &I2Cmessage[0], return_size);
wait1Msec(20);
readI2CReply(ARDUINO_PORT, &I2Creply[0], return_size);
int i = 0,top=0;
//Pitch
if(cmd==1)
writeDebugStreamLine("%d", (int)I2Creply[0]+(int)I2Creply[1]*256);
//Sound Power Level
else if(cmd==2)
//For detecting clap
//if((int)I2Creply>85)
writeDebugStreamLine("%i", (int)I2Creply[0]);
//FFT
else if(cmd==3)
{
for(int x = 0; x <return_size; x++)
{
writeDebugStream("%i", I2Creply[x]);
writeDebugStream(" ");
}
writeDebugStreamLine(" ");
//Graphic Equalizer
nxtEraseRect(6,62,99,6);
nxtDrawLine(5,2,5,61);
nxtDrawLine(2,5,95,5);
for(int j=0;j<return_size;j++)
{
top=I2Creply[j]+5;
if(top>61)
top=61;
nxtDrawRect(5+6*j,top,5+6*(j+1),5);
}
}
}
void debug(char* text, tDHandler count) {
if(count.resetAfterOverflow && (count.count >= count.__maxCount)) {
nxtEraseRect(0, 0, 99, 63);
nxtDisplayTextLine(0, "FTC5818 DBG v0.5-");
count.count = 1;
}
if(count.big) {
nxtDisplayBigTextLine(count.count, text);
count.count += 1;
}
else {
nxtDisplayTextLine(count.count, text);
count.count += 1;
}
}
/*
Main task
*/
task main () {
blob_array _blobs;
memset(_blobs, 0, sizeof(blob_array));
// combine all colliding blobs into one
bool _condensed = true;
//blob_array _blobs;
int _l, _t, _r, _b;
int _x, _y;
int _nblobs;
eraseDisplay();
// Initialise the camera
NXTCAMinit(cam);
while(true) {
eraseDisplay();
// Fetch all the blobs, have the driver combine all
// the colliding blobs.
_nblobs = NXTCAMgetBlobs(cam, _blobs, _condensed);
for (int i = 0; i < _nblobs; i++) {
// Draw the scaled blobs
_l = xscale(_blobs[i].x1);
_t = yscale(_blobs[i].y1);
_r = xscale(_blobs[i].x2);
_b = yscale(_blobs[i].y2);
nxtDrawRect(_l, _t, _r, _b);
}
NXTCAMgetAverageCenter(_blobs, 3, 0, _x, _y);
_x = xscale(_x);
_y = yscale(_y);
nxtEraseRect(_x-4, _y-4, _x+4, _y+4);
nxtDrawLine(_x, _y+2, _x, _y-2);
nxtDrawLine(_x+2, _y, _x-2, _y);
nxtDisplayTextLine(1, "%d", _nblobs);
wait1Msec(100);
}
}
task main () {
nNxtButtonTask = -2;
int strength_1;
int strength_2;
int strength_3;
int strength_4;
int strength_5;
nxtDisplayCenteredTextLine(0, "Tris10");
nxtDisplayCenteredBigTextLine(1, "FindBall");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
nxtDisplayCenteredTextLine(0, "Tris10 FindBall");
while (true) {
nxtEraseRect(0, 0, 99, 50);
T10FBreadAllStrength(TR10FB, &strength_1, &strength_2, &strength_3, &strength_4, &strength_5);
// Read the current data from the sensor
nxtFillRect( 5, strength_1/4, 10, 0);
nxtFillRect(15, strength_2/4, 20, 0);
nxtFillRect(25, strength_3/4, 30, 0);
nxtFillRect(35, strength_4/4, 40, 0);
nxtFillRect(45, strength_5/4, 50, 0);
nxtDisplayStringAt(52, 40," 1: %3d", strength_1);
nxtDisplayStringAt(52, 32," 2: %3d", strength_2);
nxtDisplayStringAt(52, 24," 3: %3d", strength_3);
nxtDisplayStringAt(52, 16," 4: %3d", strength_4);
nxtDisplayStringAt(52, 8," 5: %3d", strength_5);
wait1Msec(100);
}
}
task main () {
bool selected_50hz = true;
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "Color V2");
nxtDisplayCenteredTextLine(4, "Config operating");
nxtDisplayCenteredTextLine(5, "frequency to");
nxtDisplayCenteredTextLine(6, "50 or 60 Hz");
wait1Msec(2000);
eraseDisplay();
nxtDisplayCenteredTextLine(0, "Use arrow keys");
nxtDisplayCenteredTextLine(1, "to select a");
nxtDisplayCenteredTextLine(2, "frequency");
nxtDisplayCenteredBigTextLine(4, "50 60");
nxtDisplayCenteredTextLine(6, "[enter] to set");
nxtDisplayCenteredTextLine(7, "[exit] to cancel");
nxtDrawRect(19, 34, 44, 16);
while (true) {
// Do nothing while no buttons are pressed
while (nNxtButtonPressed == kNoButton) {
wait1Msec(1);
}
switch (nNxtButtonPressed) {
// if the left button is pressed, set the sensor for 50Hz
case kLeftButton:
if (selected_50hz) {
PlaySound(soundBlip);
while(bSoundActive) {wait1Msec(1);}
} else {
selected_50hz = true;
nxtEraseRect(55, 34, 80, 16);
nxtDisplayCenteredBigTextLine(4, "50 60");
nxtDrawRect(19, 34, 44, 16);
}
break;
// if the right button is pressed, set the sensor for 60Hz
case kRightButton:
if (!selected_50hz) {
PlaySound(soundBlip);
while(bSoundActive) {wait1Msec(1);}
} else {
selected_50hz = false;
nxtEraseRect(19, 34, 44, 16);
nxtDisplayCenteredBigTextLine(4, "50 60");
nxtDrawRect(55, 34, 80, 16);
}
break;
// Make the setting permanent by saving it to the sensor
case kEnterButton:
eraseDisplay();
nxtDisplayCenteredTextLine(2, "The Sensor is");
nxtDisplayCenteredTextLine(3, "configured for");
if (selected_50hz) {
_HTCSsendCommand(HTCS2, 0x35);
nxtDisplayCenteredTextLine(4, "50 Hz operating");
} else {
_HTCSsendCommand(HTCS2, 0x36);
nxtDisplayCenteredTextLine(4, "60 Hz operating");
}
nxtDisplayCenteredTextLine(5, "frequency");
for (int i = 5; i > 0; i--) {
nxtDisplayCenteredTextLine(7, "Exiting in %d sec", i);
wait1Msec(1000);
}
StopAllTasks();
break;
}
// Debounce the button
while (nNxtButtonPressed != kNoButton) {
wait1Msec(1);
}
}
}
/*
Main task
*/
task main () {
blob_array _blobs;
memset(_blobs, 0, sizeof(blob_array));
//blob_array _blobs;
int _x, _y, _x1, _y1;
int _nblobs;
eraseDisplay();
// pid variables
float pwr_x = 0.0;
float err_x = 0.0;
float perr_x = 0.0;
float aerr_x = 0.0;
float sp_x = 0.0;
float p_x = 0.0;
float i_x = 0.0;
float d_x = 0.0;
float pwr_y = 0.0;
float err_y = 0.0;
float perr_y = 0.0;
float aerr_y = 0.0;
float sp_y = 0.0;
float p_y = 0.0;
float i_y = 0.0;
float d_y = 0.0;
sp_y = sp_x = 87;
p_y = p_x = 0.5;
d_y = d_x = 1.8;
i_y = i_x = 0.05;
nMotorEncoder[motorA] = 0;
nMotorEncoder[motorB] = 0;
// Initialise the camera
NXTCAMinit(cam);
while(true) {
eraseDisplay();
// Fetch all the blobs, have the driver combine all
// the colliding blobs.
_nblobs = NXTCAMgetBlobs(cam, _blobs);
nxtDisplayTextLine(1, "%d, %f", _nblobs, perr_x);
if (_nblobs == 0) {
if ((perr_x > 0) && (nMotorEncoder[motorB] > 660)) {
motor[motorA] = 0;
motor[motorB] = 0;
} else if ((perr_x < 0) && (nMotorEncoder[motorB] < -660)) {
motor[motorA] = 0;
motor[motorB] = 0;
}
} else {
_x = (_blobs[0].x2 + _blobs[0].x1)/2;
_y = (_blobs[0].y2 + _blobs[0].y1)/2;
err_x = _x - sp_x;
aerr_x += err_x;
pwr_x = (err_x * p_x) + ((err_x - perr_x) * d_x) + (aerr_x * i_x);
err_y = _y - sp_y;
aerr_y += err_y;
pwr_y = (err_y * p_y) + ((err_y - perr_y) * d_y) + (aerr_y * i_y);
motor[motorA] = round(pwr_y);
motor[motorB] = round(pwr_x);
_x1 = xscale(_x);
_y1 = yscale(_y);
nxtEraseRect(_x1-6, _y1-6, _x1+6, _y1+6);
nxtDrawLine(_x1, _y1+3, _x1, _y1-3);
nxtDrawLine(_x1+3, _y1, _x1-3, _y1);
perr_y = err_y;
perr_x = err_x;
}
wait1Msec(50);
}
}
void measureTime(const TInstructions nInstructionType)
{
TSensorTypes nSensorType = testSensorType;
int i;
int j;
int k;
#if defined(useLongs)
long l1;
long l2;
#endif
#if defined(useFloats)
float idleLoopTime;
float loopTime;
float elapsed;
#else
int idleLoopTime;
int loopTime;
int elapsed;
#endif
float fTemp;
short iArray[10];
long lArray[10];
float fArray[10];
const int kInitialValues = 511; // an arbitrary value
testType = nInstructionType;
wait1Msec(200);
// Some variable initialization.
//i = random(10);
i = 0;
j = kInitialValues;
k = kInitialValues;
#if defined(useLongs)
l1 = kInitialValues * 256;
l2 = kInitialValues;
#endif
#if defined(useFloats)
fTemp = 0.999999999;
#endif
idleLoopTime = nElapsedTime[typeIdleLoop];
clearTimer(executionTimer);
for (index = 1; index <= kNumberOfLoops; ++index)
{
//
// to measure a different instruction type, simply change the
// definition of the following constant.
//
//
// Since 'nInstructionType' is a constant, code optimizer will eliminate
// the 'switch' instruction and the 'dead code' for the unreachable
// cases.
//
int nTemp;
switch (nInstructionType)
{
case typeIdleLoop:
{
nTemp = typeIdleLoop; // So that branch does not get optimized out
break;
}
case typeAlive:
{
alive(); alive(); alive(); alive(); alive();
alive(); alive(); alive(); alive(); alive();
nTemp = typeAlive;
break;
}
case typeIntegerAssignConstant:
{
iArray[00] = 250; iArray[01] = 250; iArray[02] = 250; iArray[03] = 250; iArray[04] = 250;
iArray[05] = 250; iArray[06] = 250; iArray[07] = 250; iArray[08] = 250; iArray[09] = 250;
nTemp = typeIntegerAssignConstant;
break;
}
case typeIntegerAssignVariable:
{
iArray[00] = i; iArray[01] = i; iArray[02] = i; iArray[03] = i; iArray[04] = i;
iArray[05] = i; iArray[06] = i; iArray[07] = i; iArray[08] = i; iArray[09] = i;
nTemp = typeIntegerAssignVariable;
break;
}
case typeIntegerAssignSensor:
{
iArray[00] = SensorValue[in1]; iArray[01] = SensorValue[in1];
iArray[02] = SensorValue[in1]; iArray[03] = SensorValue[in1];
iArray[04] = SensorValue[in1]; iArray[05] = SensorValue[in1];
iArray[06] = SensorValue[in1]; iArray[07] = SensorValue[in1];
iArray[08] = SensorValue[in1]; iArray[09] = SensorValue[in1];
nTemp = typeIntegerAssignSensor;
break;
}
case typeIntegerAssignIndexed:
{
iArray[i + 00] = 50; iArray[i + 01] = 50; iArray[i + 02] = 50;
iArray[i + 03] = 50; iArray[i + 04] = 50; iArray[i + 05] = 50;
iArray[i + 06] = 50; iArray[i + 07] = 50; iArray[i + 08] = 50;
iArray[i + 09] = 50;
nTemp = typeIntegerAssignIndexed;
break;
}
case typeIntegerAddVariable:
{
// Have to use alternating assignments to 'i' and 'j'; otherwise
// code optimizer will simplify into single 'i += 20*333'
iArray[00] += i; iArray[01] += i; iArray[02] += i;
iArray[03] += i; iArray[04] += i; iArray[05] += i;
iArray[06] += i; iArray[07] += i; iArray[08] += i;
iArray[09] += i;
nTemp = typeIntegerAddVariable;
break;
}
case typeIntegerAddConstant:
{
// Have to use alternating assignments to 'i' and 'j'; otherwise
// code optimizer will simplify into single 'i ++= 20*333'
iArray[00] += 250; iArray[01] += 250; iArray[02] += 250;
iArray[03] += 250; iArray[04] += 250; iArray[05] += 250;
iArray[06] += 250; iArray[07] += 250; iArray[08] += 250;
iArray[09] += 250;
nTemp = typeIntegerAddConstant;
break;
}
#if defined(useLongs)
case typeLongAssignConstant:
{
lArray[00] = 175; lArray[01] = 175; lArray[02] = 175;
lArray[03] = 175; lArray[04] = 175; lArray[05] = 175;
lArray[06] = 175; lArray[07] = 175; lArray[08] = 175;
lArray[09] = 175;
nTemp = typeLongAssignConstant;
break;
}
case typeLongAssignVariable:
{
lArray[00] = lArray[9]; lArray[01] = lArray[9]; lArray[02] = lArray[9];
lArray[03] = lArray[9]; lArray[04] = lArray[9]; lArray[05] = lArray[9];
lArray[06] = lArray[9]; lArray[07] = lArray[9]; lArray[08] = lArray[9];
lArray[09] = lArray[9];
nTemp = typeLongAssignVariable;
break;
}
case typeLongAssignIndexed:
{
lArray[i + 00] = 50; lArray[i + 01] = 50; lArray[i + 02] = 50;
lArray[i + 03] = 50; lArray[i + 04] = 50; lArray[i + 05] = 50;
lArray[i + 06] = 50; lArray[i + 07] = 50; lArray[i + 08] = 50;
lArray[i + 09] = 50;
nTemp = typeLongAssignIndexed;
break;
}
#endif
#if defined(useLongs)
case typeLongAddConstant:
{
lArray[00] += 120; lArray[01] += 120; lArray[02] += 120;
lArray[03] += 120; lArray[04] += 120; lArray[05] += 120;
lArray[06] += 120; lArray[07] += 120; lArray[08] += 120;
lArray[09] += 120;
nTemp = typeLongAddConstant;
break;
}
case typeLongAddVariable:
{
lArray[00] += iArray[09]; lArray[01] += iArray[09]; lArray[02] += iArray[09];
lArray[03] += iArray[09]; lArray[04] += iArray[09]; lArray[05] += iArray[09];
lArray[06] += iArray[09]; lArray[07] += iArray[09]; lArray[08] += iArray[09];
lArray[09] += iArray[09];
nTemp = typeLongAddVariable;
break;
}
case typeLongTimes:
{
lArray[00] *= 3; lArray[01] *= 3; lArray[02] *= 3;
lArray[03] *= 3; lArray[04] *= 3; lArray[05] *= 3;
lArray[06] *= 3; lArray[07] *= 3; lArray[08] *= 3;
lArray[09] *= 3;
nTemp = typeLongTimes;
break;
}
#endif
#if defined(useFloats)
case typeFloatAssignConstant:
{
fArray[00] = 3.357; fArray[01] = 3.357; fArray[02] = 3.357;
fArray[03] = 3.357; fArray[04] = 3.357; fArray[05] = 3.357;
fArray[06] = 3.357; fArray[07] = 3.357; fArray[08] = 3.357;
fArray[09] = 3.357;
nTemp = typeFloatAssignConstant;
break;
}
case typeFloatAssignVariable:
{
fArray[00] = fTemp; fArray[01] = fTemp; fArray[02] = fTemp;
fArray[03] = fTemp; fArray[04] = fTemp; fArray[05] = fTemp;
fArray[06] = fTemp; fArray[07] = fTemp; fArray[08] = fTemp;
fArray[09] = fTemp;
nTemp = typeFloatAssignVariable;
break;
}
case typeFloatAddVariable:
{
fArray[00] += fTemp; fArray[01] += fTemp; fArray[02] += fTemp;
fArray[03] += fTemp; fArray[04] += fTemp; fArray[05] += fTemp;
fArray[06] += fTemp; fArray[07] += fTemp; fArray[08] += fTemp;
fArray[09] += fTemp;
nTemp = typeFloatAddVariable;
break;
}
case typeFloatAddConstant:
{
fArray[00] += 102.3; fArray[01] += 102.3; fArray[02] += 102.3;
fArray[03] += 102.3; fArray[04] += 102.3; fArray[05] += 102.3;
fArray[06] += 102.3; fArray[07] += 102.3; fArray[08] += 102.3;
fArray[09] += 102.3;
nTemp = typeFloatAddConstant;
break;
}
case typeFloatTimes:
{
fArray[00] *= fTemp; fArray[01] *= fTemp; fArray[02] *= fTemp;
fArray[03] *= fTemp; fArray[04] *= fTemp; fArray[05] *= fTemp;
fArray[06] *= fTemp; fArray[07] *= fTemp; fArray[08] *= fTemp;
fArray[09] *= fTemp;
nTemp = typeFloatTimes;
break;
}
#endif
#if defined(NXT) || defined(TETRIX)
case typeClearScreen:
{
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
eraseDisplay();
nTemp = typeClearScreen;
break;
}
case typeClearPixel:
{
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nxtClearPixel(22, 22);
nTemp = typeClearPixel
; break;
}
case typeRectangleErase:
{
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nxtEraseRect(22, 22, 52, 52);
nTemp = typeRectangleErase;
break;
}
case typeRectangleFill:
{
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nxtFillRect(22, 22, 52, 52);
nTemp = typeRectangleFill;
break;
}
case typeRectangleDraw:
{
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nxtDrawRect(22, 22, 52, 52);
nTemp = typeRectangleDraw;
break;
}
#if (0)
case typeIOMapRead:
{
const int kOffset = 0;
const int kNumberOfBytes = 1;
byte nBuffer[10];
const string pzModule1 = "UI.mod";
const string pzModule2 = "Display.mod";
#if (0)
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
nxtReadIOMap(pzModule1, ioResult, nBuffer[0], kOffset, kNumberOfBytes);
#else
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 1;
nUiOMap.OBPPointer += 20;
#endif
nTemp = typeIOMapRead;
break;
}
#endif
#endif
#if defined(hasTranscendentalSupport)
case typeSine:
{
fTemp *= 1.05;
fArray[00] = sin(fTemp); fArray[01] = sin(fTemp); fArray[02] = sin(fTemp);
fArray[03] = sin(fTemp); fArray[04] = sin(fTemp); fArray[05] = sin(fTemp);
fArray[06] = sin(fTemp); fArray[07] = sin(fTemp); fArray[08] = sin(fTemp);
fArray[09] = sin(fTemp);
nTemp = typeSine;
break;
}
case typeCosine:
{
fTemp *= 1.05;
fArray[00] = cos(fTemp); fArray[01] = cos(fTemp); fArray[02] = cos(fTemp);
fArray[03] = cos(fTemp); fArray[04] = cos(fTemp); fArray[05] = cos(fTemp);
fArray[06] = cos(fTemp); fArray[07] = cos(fTemp); fArray[08] = cos(fTemp);
fArray[09] = cos(fTemp);
nTemp = typeCosine;
break;
}
#endif
case typeLogical:
{
#if defined(useLongs)
iArray[00] = (l1 < l2); iArray[01] = (l1 < l2); iArray[02] = (l1 < l2); iArray[03] = (l1 < l2); iArray[04] = (l1 < l2);
iArray[07] = (l1 < l2); iArray[06] = (l1 < l2); iArray[07] = (l1 < l2); iArray[08] = (l1 < l2); iArray[09] = (l1 < l2);
#endif
nTemp = typeLogical;
break;
}
case typeTrinaryAdd:
{
iArray[00] = i + k; iArray[01] = i + k; iArray[02] = k + i;
iArray[03] = i + k; iArray[04] = i + k; iArray[05] = k + i;
iArray[06] = i + k; iArray[07] = i + k; iArray[08] = k + i;
iArray[09] = i + k;
nTemp = typeTrinaryAdd;
break;
}
case typeTrinaryAddConstant1:
{
iArray[00] = i + 333; iArray[01] = i + 333; iArray[02] = 333 + i;
iArray[03] = i + 333; iArray[04] = i + 333; iArray[05] = 333 + i;
iArray[06] = i + 333; iArray[07] = i + 333; iArray[08] = 333 + i;
iArray[09] = i + 333;
nTemp = typeTrinaryAddConstant1;
break;
}
case typeTrinaryAddConstant2:
{
iArray[00] = i + 127; iArray[01] = i + 127; iArray[02] = 127 + i;
iArray[03] = i + 127; iArray[04] = i + 127; iArray[05] = 127 + i;
iArray[06] = i + 127; iArray[07] = i + 127; iArray[08] = 127 + i;
iArray[09] = i + 127;
nTemp = typeTrinaryAddConstant2;
break;
}
}
}
loopTime = time1[executionTimer];
#if defined(useFloats)
loopTime /= 100.0;
#endif
if (nInstructionType == typeIdleLoop)
elapsed = loopTime;
else
elapsed = loopTime - idleLoopTime;
nElapsedTime[nInstructionType] = elapsed;
// 'elapsed' contains the number of 10 msec 'ticks' to execute 100,000 (5,000 loops
// each with 20) statements. Thus if 'elapsed' is 146, a single statement took
// 14.6 microseconds:
// - 1,460 millisecons total 'adjusted' time in loop (146 ticks x 10 milliseconds)
// - 1,460 milliseconds is same as 1,460,000 microseconds
// - divide by 100,000 to get 14.6 microseconds
playSound(soundBlip);
return;
}
void erasePowerstacker(int x, int y){
nxtEraseEllipse(x+23, y+56, x+37, y+45); // Head
nxtEraseRect (x+22, y+44, x+38, y+31); // Upper torso
nxtEraseRect (x+20, y+30, x+40, y+26); // Middle torso
nxtEraseRect (x+16, y+26, x+44, y+21); // Hips
nxtEraseRect (x+16, y+20, x+23, y); // Left leg
nxtEraseRect (x+8, y+5, x+15, y); // Left foot
nxtEraseRect (x+37, y+20, x+44, y); // Right leg
nxtEraseRect (x+45, y+5, x+52, y); // Right foot
nxtEraseRect (x+8, y+44, x+21, y+40); // Left arm
nxtEraseRect (x, y+48, x+13, y+45); // Left hand
nxtEraseRect (x+39, y+44, x+52, y+40); // Right arm
nxtEraseRect (x+47, y+48, x+60, y+45); // Right hand
}