//-----------------------------------------------------------------------------
// Purpose: Builds the spline points between this keyframe and the previous
// keyframe.
// Input : pPrev -
//-----------------------------------------------------------------------------
void CMapKeyFrame::BuildPathSegment( CMapKeyFrame *pPrev )
{
RecalculateTimeFromSpeed();
CMapAnimator *pAnim = GetAnimator();
Quaternion qAngles;
for ( int i = 0; i < MAX_LINE_POINTS; i++ )
{
if (pAnim != NULL)
{
CMapAnimator::GetAnimationAtTime( this, pPrev, MoveTime() * ( float )( i + 1 ) / (float)MAX_LINE_POINTS, m_LinePoints[i], qAngles, pAnim->m_iPositionInterpolator, pAnim->m_iRotationInterpolator );
}
else
{
// FIXME: If we aren't connected to an animator yet, just draw straight lines. This code is never hit, because
// BuildPathSegment is only called from CMapAnimator. To make matters worse, we can only reliably find
// pPrev through an animator.
CMapAnimator::GetAnimationAtTime( this, pPrev, MoveTime() * (float)( i + 1) / (float)MAX_LINE_POINTS, m_LinePoints[i], qAngles, 0, 0 );
}
}
// HACK: we shouldn't need to do this. CalcBounds alone should work (but it doesn't because of where we
// call RebuildPath from). Make this work more like other objects.
if ( m_pParent )
{
GetParent()->CalcBounds( true );
}
else
{
CalcBounds();
}
m_bRebuildPath = false;
}
void Red1Fail1(void)
{
IntakePower(0);
MoveTime(2000,-100)
KillALL();
while(1);
}
void SlimeKingMiddle::MoodMove(float dt)
{
if (timer == kTimerUp)
{
timer = MoveTime();
dir = rand() % 4;
cocos2d::JumpBy * jump;
switch (dir)
{
case myEnum::kDir::kDirEast:
jump = JumpBy::create(0.5f, Vec2(50, 0), this->getContentSize().height*0.5f, 1);
break;
case myEnum::kDir::kDirWest:
jump = JumpBy::create(0.5f, Vec2(-50, 0), this->getContentSize().height*0.5f, 1);
break;
case myEnum::kDir::kDirSouth:
jump = JumpBy::create(0.5f, Vec2(0, -50), this->getContentSize().height*0.5f, 1);
break;
case myEnum::kDir::kDirNorth:
jump = JumpBy::create(0.5f, Vec2(0, +50), this->getContentSize().height*0.5f, 1);
break;
}
auto seq = Sequence::create(jump, jump->clone(), NULL);
this->runAction(seq);
}
else if (timer <= 0.0f)
{
ChooseMood();
}
}
void Guard::MoodStay(float dt)
{
if (timer == kTimerUp)
{
timer = MoveTime();
}
else if (timer <= 0.0f)
{
ChooseMood();
}
}
/*----------------------------------------------------------------------------*/
void BlueAuto2(void)
{
///4 PRELOADS 3 PILE
/// STARTING TYLE IS FURTHERST TYLE
int YouAreGoodToCount = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
DistanceCalculatorTurn(1);
while(DistanceCalculatorTurn(0) < 15) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 50);
}
Break2(100,-10);
delay(200);
stage = 1;
SetRPM(2200);
DistanceCalculator(1);
while(DistanceCalculator(0) < 12) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
}
clearTimer(T3);
while(SensorValue[IR1] == 1 ) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 6000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(35, 40,3000) == 1)//17 // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
if(FailSafeEngaged == 1)Blue1FailInfinite();/////////////////////RED1FAIL1
}
IntakePower(0);
while(LineStatus() == 0)
{
Move(-2, 100);
}
Break(100,-10);
while(MoveDist(3, 30,0) == 1);
delay(200);
SetRPM(2200);
while(LineStatus() == 0) //TURN UNTIL YOU SEE THE LINE
{
Move(1, 20);
}
DistanceCalculator(1);
while(LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatusOffset() == 1)
{
DistanceCalculator(1);
YouAreGoodToCount = 1;
}
if(DistanceCalculator(0) > 18 && YouAreGoodToCount == 1)
{
DistanceCalculator(1);
break;
}
}
if(DistanceCalculator(0) < 50 && YouAreGoodToCount == 0)Blue1FailInfinite();//**FAIL GOOD
Break(100,20);
delay(500);
IntakePower(127);///SHOT FIRST PILE
delay(3000);
ShootingMode = 3;
StopDrive();
stage = 1;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
clearTimer(T3);
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
if(time1[T3] > 10000)
{
break;
}
IntakeOnAuto();
}
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 37 )//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
if(time1[T3] > 10000)
{
break;
}
}
MoveTime(500,127);
StopDrive();
delay(500);
IntakePower(127);///SHOT BAR SHOTS
delay(3500);
IntakePower(0);
SetRPM(2200);
stage = 1;
//////////////////////////////////////////////////////SHOT 8 COMPLETE
DistanceCalculator(1);
while(DistanceCalculator(0) < 50) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-2, 127);
}
Break(200,-15);
delay(200);
DistanceCalculatorTurn(1);
clearTimer(T3);
while(DistanceCalculatorTurn(0) < 62) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 100);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
Break2(100,10);
delay(300);
DistanceCalculator(1);
clearTimer(T3);
while(DistanceCalculator(0) < 24) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
clearTimer(T3);
while(SensorValue[IR1] == 1 )//PILE BY THE WALL
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(19, 35,2000) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
IntakePower(0);
///////////////////////////////////////////////////////////////////////////////////PICK UP 3RD
SetRPM(2200);
clearTimer(T3);
while(LineStatus() == 0 )
{
Move(-2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(200,-15);
while(MoveDist(3, 40,0) == 1);
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
DistanceCalculator(1);
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 12)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(100,20);
StopDrive();
delay(500);
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(3000);
TurnDegree(-45,100,2000);
while(MoveDist(24, 40,0) == 1);
ShootingMode = 4;
KillALL();
while(1);
}
void RedAuto1(void)
{
int Launch = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
stage = 1;
TurnDegree(-10,40,0); // DO WE NEED FAILSAFE HERE?
delay(200);
Move(2,127);
delay(500);
clearTimer(T3);
while(SensorValue[IR1] == 1) //*FAILSAFE ?WHAT IF WE DONT SEE ANY BALLS
{
IntakeOnAuto();
Move(2,20);
if(time1[T3] > 8000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(40, 50,0) == 1) //*FAILSAFE ?WHAT IF WE ARE BLOCKED (ROBOT FINISHED ABOUT MID COURT)
{
if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1
IntakeOnAuto();
}
IntakePower(0);
TurnDegree(-45,127,2000); //*FAILSAFE ?WHAT IF WE ARE BLOCKED
if(FailSafeEngaged == 1)Red1FailInfinite();
delay(200);
SetRPM(2250);//LAUNCHER ON (NEXT SHOOTING RPM)
clearTimer(T3);
while(LineStatus() == 0) //*FAILSAFE AT WHAT POINT DO WE STOP MOVING? WHAT IF WE ARE OF COURSE?
{
Move(-2,30);
if(time1[T3] > 3500)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1FailInfinite();
Break(100,-20);
delay(200);
while(MoveDist(7, 30,0) == 1){} // DO WE NEED FAILSAFE HERE?
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 3000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1FailInfinite();
while(LineStatus() == 1 && LineStatusOffset() == 0) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;//WE REACHED THE CROSS(MIDDLE OF FIELD SET FLAG
}
if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;
Break(100,20);
StopDrive();
delay(300);
if(Launch) //IF LAUNCH FLAG WAS SATISFIED EARLIER THEN WE CAN LAUNCH BALLS
{
IntakePower(127); // SHOOT MID COURT
delay(3000);
}
stage = 1;
ShootingMode = 3;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1 && DistanceCalculator(0) < 55) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
IntakeOnAuto();
}
while(LineStatus() == 1 && DistanceCalculator(0) < 55)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
MoveTime(300,127);
StopDrive();
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(4000);
stage = 1;
///////////
KillALL();
while(1);
}
