void AIController::moveForward() {
if (fabs(shipCoord().getX()) < DISTANCE_EPS + (fabs(shipCoord().getZ()) / 20) &&
fabs(shipCoord().getY()) < DISTANCE_EPS + (fabs(shipCoord().getZ()) / 20) &&
shipCoord().getZ() > 0) {
rotated = true;
if (targetSpeed().getZ() + MAX_SPEED_DIFF > 0) {
// std::cout << "%";
increasePower();
// setPower(1);
}
}
if (targetSpeed().getZ() + MAX_SPEED_DIFF < 0) {
// std::cout << "^" << power << " ";
decreasePower();
// setPower(0);
}
}
int Max6651ClosedLoop::begin() {
println("Max6651ClosedLoop::begin()");
if (!i2c_) {
//println("No I2C interface configured.");
return -1;
}
int error = setConfigRegister(mode_config_);
write(COMMAND_GPIO_DEFINE, gpio_config_);
write(COMMAND_ALARM_ENABLE, alarm_config_);
write(COMMAND_TACH_COUNT_TIME, tachometer_count_time_);
targetSpeed(maximumSpeed());
// TODO: Return error code
return error;
}
void ch_att::assignPoints()
{
long est=0;
// Health
while (point>0 && hp<att*7/3)
{
point--;
increaseHealth();
}
// Speed
est=targetSpeed();
while (point>0 && sp<SpeedCap && sp<=est)
{
point--;
increaseSpeed();
}
// Strength
while (point>0)
{
point--;
increaseStrength();
}
}
