void move(void) {
unsigned char alive = 0;
unsigned int diff = 0;
unsigned int newpos = 0;
stepnr = getPosition(curtrack);
newpos = getPosition(choice);
ledOK = LEDOK_OFF;
if( stepnr == newpos ) {
waitMS( 500 );
ledOK = LEDOK_ON;
return;
}
updateDisplay();
power = POWER_ON;
pulswidth = MAX_PULSWIDTH;
while( stepnr != newpos ) {
if( stepnr > newpos ) {
diff = stepnr - newpos;
stepnr--;
oneStep(STEP_LEFT);
}
else if( stepnr < newpos ) {
diff = newpos - stepnr;
stepnr++;
oneStep(STEP_RIGHT);
}
if( diff < 150 && pulswidth < MAX_PULSWIDTH ) {
// slower
pulswidth += (MAX_PULSWIDTH - pulswidth) / 150;
}
else if(pulswidth > MIN_PULSWIDTH) {
// faster
pulswidth -= (pulswidth - MIN_PULSWIDTH) / 150;
}
alive++;
if( alive > 100 ) {
//ledOK = !ledOK;
alive = 0;
}
}; // end while
if( !readByte(ADDR_KEEPPOWER) )
power = POWER_OFF;
curtrack = choice;
ledOK = LEDOK_ON;
}
void DynamicsSimulatorHandPose::oneStep(MarkerPublisher *markers_pub, int m_id) {
KDL::Frame r_HAND_current;
kin_model_->calculateFk(r_HAND_current, effector_name_, q_);
// KDL::Twist diff = KDL::diff(r_HAND_current, r_HAND_target_, 1.0);
KDL::Twist diff = pose_diff_function_(r_HAND_current, r_HAND_target_);
oneStep(diff, markers_pub, m_id);
}
string Network::work()
{
stringstream out;
if (!checkNetworkToBeInfected())
do
out << oneStep();
while (!checkNetworkToBeInfected());
out << printLocalSystemStatus();
return out.str();
}
void start()
{
Buffer* read = buff1;
Buffer* write = buff2;
for (uint32_t i = 0; i < steps; ++i)
{
oneStep(i, read, write);
std::swap(read, write);
}
}
/*
* Whole Simulation
*/
void Simulation::wholeSimulation() {
curState = "0"; // set initial state
int steps = 0;
while(curState != "accept" && curState != "reject") {
oneStep();
steps++;
if (steps > MAX_ITERATIONS) {
std::cout << "Moved too many steps !" << std::endl;
exit(1);
}
}
std::cout << curState << std::endl;
}
void Simulator::run()
{
ProgressBar progressBar;
for(int i = 0; i < step; ++i)
{
oneStep();
progressBar.update(i/double(step));
// print the result
std::stringstream filename;
filename << "./output/boids_" << i << ".xyz";
if (write) save(filename.str());
}
}
int Stepper2D::step()
{
Timer t;
for (int ii = 0; ii < nSteps; ii++){
t.start();
int ret = oneStep();
t.end();
float duration = t.getSeconds();
//std::cout << ii << " time: " << duration << "\n";
if (ret < 0){
return ret;
}
else if (ret==1)
{
std::cout << "Failed!" << std::endl;
return ret;
}
}
return 0;
}
//triggers a slot in the assembly class
void MainWindow::on_pushButton_2_clicked()
{
emit oneStep();
}
/*
* setup service to define the track positions
* control remains in this function as long as the setup button is active
*/
void setup(void) {
confirm(5);
// start with position mid
stepnr = initpos;
choice = MAX_TRACKS / 2 + 1;
updateDisplay();
pulswidth = MAX_PULSWIDTH;
power = POWER_ON;
waitMS(100);
curtrack = choice;
while( buttonSetup == BUTTON_ON ) {
waitMS(10);
if( buttonRight == BUTTON_ON && buttonLeft == BUTTON_ON ) {
saveByte( ADDR_KEEPPOWER, readByte(ADDR_KEEPPOWER) ? KEEPPOWER_OFF:KEEPPOWER_ON );
confirm(3);
while( buttonRight == BUTTON_ON && buttonLeft == BUTTON_ON );
}
while( stepnr < MAX_STEPS && buttonLeft == BUTTON_OFF && buttonRight == BUTTON_ON ) {
// turn right; end position is not reached
stepnr++;
oneStep(STEP_RIGHT);
};
while( stepnr > 0 && buttonLeft == BUTTON_ON && buttonRight == BUTTON_OFF ) {
// turn left; start position is not reached
stepnr--;
oneStep(STEP_LEFT);
};
// check if the buttonSave is pressed
if( buttonSave == BUTTON_ON ) {
// save the new position in eeprom
savePosition( choice, stepnr);
confirm(1);
choice++;
if( choice > MAX_TRACKS )
choice = 1;
curtrack = choice;
updateDisplay();
while( buttonSave == BUTTON_ON )
waitMS(10);
}
// check if the buttonNext is pressed
if( buttonNext == BUTTON_ON ) {
confirm(1);
choice++;
if( choice > MAX_TRACKS )
choice = 1;
curtrack = choice;
updateDisplay();
while( buttonNext == BUTTON_ON )
waitMS(10);
}
} // end while
if( !readByte(ADDR_KEEPPOWER) )
power = POWER_OFF; /* power off step motor */
}
