示例#1
0
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;
		}
	}
}