Base::Base() :
Element()
{
float motorDistance = 46.188;
// Positions des moteurs par rapport au referenciel des moteurs
Vec3f motor1(sin(deg2Rad(36.28f))*motorDistance, cos(deg2Rad(36.28f))
*motorDistance, 0);
Vec3f motor3(-(cos(deg2Rad(36.28f-30.0f))*motorDistance),
sin(deg2Rad(36.28f-30.0f))*motorDistance, 0);
Vec3f motor2(sin(deg2Rad(60.0f-36.28f))*motorDistance, -(cos(deg2Rad(60.0f
-36.28f))*motorDistance), 0);
osg::Node* node = osgDB::readNodeFile("data/base.stl");
node->setStateSet(createTransparency(0.5));
// Centering the model
osg::MatrixTransform* modelTransform = new osg::MatrixTransform();
modelTransform->setMatrix(osg::Matrix::translate(0, 0, -5));
modelTransform->addChild(node);
osg::MatrixTransform* transform = new osg::MatrixTransform();
transform->addChild(modelTransform);
transform->setMatrix(osg::Matrix::translate( 0, 0, 0));
model->addChild(transform);
}
void remote_controlled(void)
{
/*¨Parts:
-Leds (L)
-Motors (M)
-servos (S)
-complete movement (R) */
char part;
int opt1=0;
int opt2=0;
int opt3=0;
//scanf("%1c%1i%3i%3i",&part,&opt1,&opt2,&opt3);
scanf("%1c%1i%3i",&part,&opt1,&opt2);
switch (part)
{
/* Motors M+#of motor + speed (99 to -99) */
case 'M':
switch (opt1)
{
case 1:
motor1(opt2);
break;
case 2:
motor2(opt2);
break;
case 3:
motor3(opt2);
break;
case 4:
motor4(opt2);
break;
}
break;
case 'R':
move(opt2,opt3);
break;
case 'S':
switch(opt1)
{
case 1:
pwm_update(SERVO_0,opt2);
break;
case 2:
pwm_update(SERVO_1,opt2);
break;
case 3:
pwm_update(SERVO_2,opt2);
break;
case 4:
pwm_update(SERVO_3,opt2);
break;
}
break;
/* Leds, L + # of led + option
L1000 turn off led 1
L1001 turn on led 1
L1002 toggle led 1 */
case 'L':
switch (opt1)
{
case 1:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED1,0);
break;
case 1:
ioport_set_pin_level(LED1,1);
break;
case 2:
ioport_toggle_pin_level(LED1);
break;
}
break;
case 2:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED2,0);
break;
case 1:
ioport_set_pin_level(LED2,1);
break;
case 2:
ioport_toggle_pin_level(LED2);
break;
}
break;
case 3:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED3,0);
break;
case 1:
ioport_set_pin_level(LED3,1);
break;
case 2:
ioport_toggle_pin_level(LED3);
break;
}
break;
case 4:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED4,0);
break;
case 1:
ioport_set_pin_level(LED4,1);
break;
case 2:
ioport_toggle_pin_level(LED4);
break;
}
break;
case 5:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED5,0);
break;
case 1:
ioport_set_pin_level(LED5,1);
break;
case 2:
ioport_toggle_pin_level(LED5);
break;
}
break;
case 6:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED6,0);
break;
case 1:
ioport_set_pin_level(LED6,1);
break;
case 2:
ioport_toggle_pin_level(LED6);
break;
}
break;
}
// case 'M':
// break;
//
// case 'S':
// break;
//
// case 'R':
// break;
}
}
