void ShooterArm::UsePIDOutput(double output)
{
//Go from stage 1 to to 2, or from stage 3 to 2 if off target
if (((_onStage2 == false) && (OnTarget())) ||
((_onStage3 == true) && (OnTarget() == false)))
{
_onStage2 = true;
_onStage3 = false;
PIDController *pid = GetPIDController();
pid->SetPID(_bothStage_P,_stage_2_I,_stage_2_D);
pid->SetAbsoluteTolerance(fabs(_stage_2_tolerance * VOLTAGE_DEG_SCALAR));
}
else if ((_onStage2 == true) && (_onStage3 == false) && (OnTarget()))
{
_onStage3 = true;
PIDController *pid = GetPIDController();
pid->SetPID(_bothStage_P,0.0,_stage_2_D);
//pid->SetAbsoluteTolerance(fabs(_stage_2_tolerance * VOLTAGE_DEG_SCALAR));
}
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
shooterArmMotor->PIDWrite(output);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
}
void GameSocket::ProcessData(unsigned char* data, int size)
{
Reader.SetBuffer(data);
int offset = 0;
while(offset < size)
{
unsigned short psize = Reader.ReadWord() + 6;
unsigned short opcode = Reader.ReadWord();
Reader.Skip(2);
switch(opcode) {
case GAME_CLIENT_KEEP_ALIVE:
case GAME_CLIENT_ACCEPT_HANDSHAKE:
break;
case GAME_CLIENT_INFO:
SendServerInfo();
break;
case GAME_CLIENT_PATCH_REQUEST:
SendPatchInfo();
break;
case GAME_CLIENT_AUTH:
OnAuth();
break;
case GAME_CLIENT_CHARACTER:
OnCharacter();
break;
case GAME_CLIENT_INGAME_REQUEST:
OnIngameRequest();
break;
case GAME_CLIENT_MOVEMENT:
OnMovement();
break;
case GAME_CLIENT_CLOSE:
OnGameQuit();
break;
case GAME_CLIENT_CHAT:
OnChat();
break;
case GAME_CLIENT_ITEM_MOVE:
OnItem();
break;
case GAME_CLIENT_TARGET:
OnTarget();
break;
case GAME_CLIENT_INGAME_NOTIFY:
OnIngameNotify();
break;
case GAME_CLIENT_EMOTION://update carlosx
OnEmotion();
break;
case GAME_CLIENT_SIT: //update carlosx
OnSit();
break;
case GAME_CLIENT_ESTRELLA: //update carlosx
OnEstrella();
break;
case GAME_CLIENT_ADDSKILL: //update carlosx
OnUpdateSkill();
break;
case GAME_CLIENT_MASTERY: //update carlosx
OnMastertSkill();
break;
case GAME_CLIENT_ATSKILL: //update carlosx
OnATSkill();
break;
case GAME_CLIENT_ADDSTR: //update carlosx
OnADDStr();
break;
case GAME_CLIENT_ADDINT: //update carlosx
OnADDInt();
break;
case GAME_CLIENT_GM:
OnGM();
break;
default:
printf("Unknown opcode: %.4x\n", opcode);
}
Reader.Reset();
Reader.Skip(psize);
offset += psize;
}
Reader.Reset();
}
