int main(void) {
for (int i=0; i<3; i++) {
set_output(DDRB, led[i]);
}
uint8_t tick = 0;
while(1) {
for (int i=0; i<3; i++) {
if (tick < current[i]) {
output_high(PORTB, led[i]);
} else {
output_low(PORTB, led[i]);
}
}
tick = (tick+1)%256;
if (tick == 0) {
if (reached()) {
retarget();
} else {
approach();
}
}
}
return 0;
}
void Ship::update()
{
awaiting_action = true;
Entity::update();
if (approaching)
{
approach();
}
frame.clean();
}
/**
* @function updateBehavior
*/
void robotController::updateBehavior() {
// Following wall left
if( mMode == 0 ) {
// peekaboo_left( 0.3, 1.57, 5 );
}
// Following wall right
else if( mMode == 1 ) {
// peekaboo_right( 0.3, 1.57, 5 );
}
approach( 1.0, 0.3, 3 );
}
int main(int argc, char** argv) {
ros::init(argc,argv,"pr2_actions");
ros::NodeHandle node_handle;
Approach approach(node_handle);
Dock dock(node_handle);
Undock undock(node_handle);
Pick pick(node_handle);
Place place(node_handle);
ros::spin();
return 0;
}
void update_transition(void) {
if(!check_transition()) {
return;
}
if(transition.state == TRANS_FADE_IN) {
transition.fade = approach(transition.fade, 1.0, 1.0/transition.dur1);
if(transition.fade == 1.0) {
transition.state = TRANS_FADE_OUT;
call_callback();
if(popq()) {
call_callback();
}
}
} else if(transition.state == TRANS_FADE_OUT) {
transition.fade = transition.dur2 ? approach(transition.fade, 0.0, 1.0/transition.dur2) : 0.0;
if(transition.fade == 0.0) {
transition.state = TRANS_IDLE;
popq();
}
}
}
~EclMultiplexerMaterialParams()
{
switch (approach()) {
case EclStone1Approach:
delete static_cast<Stone1Params*>(realParams_);
break;
case EclStone2Approach:
delete static_cast<Stone2Params*>(realParams_);
break;
case EclDefaultApproach:
delete static_cast<DefaultParams*>(realParams_);
break;
case EclTwoPhaseApproach:
delete static_cast<TwoPhaseParams*>(realParams_);
break;
}
}
void Player::Update()
{
if(CanMove()==false)
{
return;
}else
{
Move();
approach();
vector<Tail>::iterator iter=tails.begin();
vector<Tail>::iterator e=tails.end();
for(;iter!=e;iter++)
{
iter->Update();
}
if(ateApple)
{
AddTail();
ateApple=false;
}
}
}
void setApproach(EclMultiplexerApproach newApproach)
{
assert(realParams_ == 0);
approach_ = newApproach;
switch (approach()) {
case EclStone1Approach:
realParams_ = new Stone1Params;
break;
case EclStone2Approach:
realParams_ = new Stone2Params;
break;
case EclDefaultApproach:
realParams_ = new DefaultParams;
break;
case EclTwoPhaseApproach:
realParams_ = new TwoPhaseParams;
break;
}
}
void Colour::quickApproach(Colour c) {
for (uint8_t i = 0; i < 3; i++) {
approach(c);
}
}
typename std::enable_if<approachV == EclTwoPhaseApproach, const TwoPhaseParams>::type&
getRealParams() const
{
assert(approach() == approachV);
return *static_cast<const TwoPhaseParams*>(realParams_);
}
typename std::enable_if<approachV == EclDefaultApproach, DefaultParams>::type&
getRealParams()
{
assert(approach() == approachV);
return *static_cast<DefaultParams*>(realParams_);
}
typename std::enable_if<approachV == EclStone2Approach, Stone2Params>::type&
getRealParams()
{
assert(approach() == approachV);
return *static_cast<Stone2Params*>(realParams_);
}
//! Default constructor.
RowsStages::RowsStages(const IMC::Rows* maneuver, Tasks::Task* task)
{
// Setup offsets (without bearing rotation)
m_man = *maneuver;
// Save a pointer to the task to call debug message
m_task = task;
double curve_sign = curveRight() ? 1 : -1;
double alt_frac_up = 0.01 * (double)m_man.alternation;
double alt_frac_down = 2 - 0.01 * (double)m_man.alternation;
m_stages.clear();
Stage approach("approach", -m_man.coff, 0);
m_stages.push_back(approach);
Stage start_point("start", m_man.coff, 0);
m_stages.push_back(start_point);
Stage up("up", m_man.length + m_man.coff, 0);
m_stages.push_back(up);
Stage up_curve("begin curve (up)", 0, curve_sign * alt_frac_up * m_man.hstep);
Stage up_curve_end("end curve (up)", -m_man.coff, 0);
if (!squareCurve())
{
Angles::rotate(m_man.cross_angle, curveLeft(), up_curve.x, up_curve.y);
up_curve.x -= m_man.coff;
m_stages.push_back(up_curve);
}
else
{
Angles::rotate(m_man.cross_angle, curveLeft(), up_curve.x, up_curve.y);
m_stages.push_back(up_curve);
m_stages.push_back(up_curve_end);
}
Stage down("down", -up.x, 0);
m_stages.push_back(down);
Stage down_curve("begin curve (down)", 0, curve_sign * alt_frac_down * m_man.hstep);
Stage down_curve_end("end curve (down)", -up_curve_end.x, 0);
if (!squareCurve())
{
Angles::rotate(m_man.cross_angle, curveLeft(), down_curve.x, down_curve.y);
down_curve.x += m_man.coff;
m_stages.push_back(down_curve);
}
else
{
Angles::rotate(m_man.cross_angle, curveLeft(), down_curve.x, down_curve.y);
m_stages.push_back(down_curve);
m_stages.push_back(down_curve_end);
}
if (m_task != NULL)
{
m_task->debug("-- row stages and offsets -- ");
for (uint8_t i = 0; i < m_stages.size(); ++i)
{
m_task->debug("%s | %0.2f %0.2f", m_stages[i].label,
m_stages[i].x, m_stages[i].y);
}
}
// Other init
m_curves = (int)std::floor(m_man.width / m_man.hstep);
m_curr = 0;
m_sabs = Stage("undefined", 0, 0);
m_index = 0;
}
const Point approach(const Point other) const{
return approach(other, 0.5);
}
