ComputerPlayer::ComputerPlayer()
: isActive_(false)
{
interface_ = new ComputerPlayerInterface();
connect(interface_->browseButton, SIGNAL(released()), this, SLOT(selectProgram()));
interface_->hide();
setAllowedTime(3000);
}
task main()
{
initializeRobot();
////////////////////////////////////////////////////////////////////////////
while(true)
{
selectProgram();
switch(system)
{
case 0:
break;
//Drivetrain Test//////////////////////////////////////////////////////////
case 1:
motor[leftDrive] = 50;
wait10Msec(200);
motor[leftDrive] = 0;
//-----------------------
motor[leftDrive] = -50;
wait10Msec(200);
motor[leftDrive] = 0;
//-----------------------
motor[rightDrive] = 50;
wait10Msec(200);
motor[rightDrive] = 0;
//-----------------------
motor[rightDrive] = -50;
wait10Msec(200);
motor[rightDrive] = 0;
//-----------------------
motor[leftDrive] = 50;
motor[rightDrive] = 50;
wait10Msec(200);
motor[leftDrive] = 0;
motor[rightDrive] = 0;
//-----------------------
motor[leftDrive] = 50;
motor[rightDrive] = 50;
wait10Msec(200);
motor[leftDrive] = 0;
motor[rightDrive] = 0;
//-----------------------
break;
//Gripper Test//////////////////////////////////////////////////////////
case 2:
nMotorEncoderTarget[finger] = 90;
ClearTimer(T1);
while ((nMotorEncoder[finger] < 90) && (time1[T1] < 500))
{
motor[finger] = 30;
}
wait10Msec(100);
//-------------------------------------------------------
nMotorEncoderTarget[finger] = 0;
ClearTimer(T1);
while ((nMotorEncoder[finger] > 0) && (time1[T1] < 500))
{
motor[finger] = -30;
}
motor[finger] = 0;
break;
//Arm Test////////////////////////////////////////////////////////////////
case 3:
//-----------------------------
motor[arm] = 20;
wait10Msec(300);
//-----------------------------
motor[arm] = -20;
wait10Msec(300);
//-----------------------------
break;
//BAM/////////////////////////////////////////////////////////////////////
case 4:
servoTarget[bamLeft] = 255;
servoTarget[bamRight] = 0;
wait10Msec(200);
//------------------------------
servoTarget[bamLeft] = 0;
servoTarget[bamRight] = 255;
wait10Msec(200);
//------------------------------
servoTarget[bamLeft] = 127;
servoTarget[bamRight] = 127;
wait10Msec(200);
break;
//Mechanical Stop/////////////////////////////////////////////////////////
case 5:
servoTarget[stopLeft] = 255;
servoTarget[stopRight] = 0;
wait10Msec(200);
//------------------------------
servoTarget[stopLeft] = 0;
servoTarget[stopRight] = 255;
wait10Msec(200);
//------------------------------
servoTarget[stopLeft] = 127;
servoTarget[stopRight] = 127;
wait10Msec(200);
break;
//Gyro/////////////////////////////////////////////////////////////////////
case 6:
turngyro_right(90, 30);
wait10Msec(200);
//----------------------------
turngyro_right(-90, 30);
wait10Msec(200);
//----------------------------
turngyro_right(45, 30);
wait10Msec(200);
//----------------------------
turngyro_right(-45, 30);
wait10Msec(200);
break;
}
}
}