void dispatch()
/* Set up a connection to database and dispatch control
* based on hgpDo type var. */
{
struct sqlConnection *conn = sqlConnect(visiDb);
if (cartVarExists(cart, hgpDoThumbnails))
doThumbnails(conn);
else if (cartVarExists(cart, hgpDoImage))
doImage(conn);
else if (cartVarExists(cart, hgpDoProbe))
doProbe(conn);
else if (cartVarExists(cart, hgpDoControls))
doControls(conn);
else if (cartVarExists(cart, hgpDoId))
doId(conn);
#ifdef SOON
else if (cartVarExists(cart, hgpDoConfig))
configPage(conn);
#endif /* SOON */
else if (cartVarExists(cart, hgpDoSearch))
doDefault(conn, TRUE);
else
{
char *oldListSpec = hashFindVal(oldCart, hgpListSpec);
char *newListSpec = cartOptionalString(cart, hgpListSpec);
boolean isNew = differentStringNullOk(oldListSpec, newListSpec);
doDefault(conn, isNew);
}
cartRemovePrefix(cart, hgpDoPrefix);
}
void robot_class::TeleopPeriodic()
{
//double infaredDistance = (double)((robot->shoot->infared->GetVoltage()))/**18.777777777777777)*/;
updateRegistry.update();
driveT -> pressurize();
driveT -> drive();
doControls();
}
// Main
int main() {
// initial settings, will change to user interactive / eeprom
ctx.settings.mode = 3;
ctx.settings.maxCtrlWatts = 75000;
ctx.settings.maxWatts = 75000;
ctx.settings.minTemp = 60;
ctx.settings.maxTemp = 300;
ctx.settings.tcrValue = 0.00092;
ctx.settings.tT = 248;
ctx.settings.tW = 56000;
ctx.settings.lockRes = false;
ctx.settings.flip = false;
ctx.settings.stealth = false;
ctx.settings.lock = false;
ctx.settings.timeout = 10;
// init timers
uint8_t timeTimer;
timeTimer = Timer_CreateTimer(1, 1, incrementTime, 1);
uint8_t loopTimer;
loopTimer = Timer_CreateTimer(FPS, 1, readyLoop, 1);
// init atomizer
Atomizer_SetErrorLock(true);
// main loop, rest is event handling
while(1) {
loop = 0;
// collect runtime data
collectData();
// do controls
doControls();
if(ctx.state.firing) {
displayFiring();
} else {
if(ctx.state.idleTimer < 20) {
switch(ctx.settings.mode) {
case 0: // settings
displaySettings();
break;
case 1: // vw
displayVW();
break;
case 2: // bp
displayBP();
break;
case 3: // tc
displayTC();
break;
}
} else {
// switch to low power mode
Display_Clear();
Display_Update();
sleep();
}
}
// waste time until loop refresh timer is ready
while(loop == 0) {}
}
return 0;
}
