// time is in milliseconds
// distance is in tenths of inches
// direction is 1 or -1 -- positive is forwards
void moveStraight(int direction, int time, int driveTarget)
{
nMotorEncoder[LeftMWheel] = 0;
int distance = 0;
float pwr = 0;
while(distance < driveTarget )
{
distance = abs(nMotorEncoder[LeftMWheel]);
// works
if( distance <= driveTarget / 2)
pwr = distance / 5 + 20; //TODO: figure out how this works
else
pwr = ( driveTarget - distance ) / 10 + 20;
// test old formula
//pwr = oldPwr(driveTarget, distance);
// test new formula
//pwr = newPwr(driveTarget, distance);
pwr *= direction;
setLeft(pwr);
setRight(pwr);
} // end while loop
setLeft(0);
setRight(0);
}
void rampDrive(int driveTarget)
{
int direction = 1;
if( driveTarget < 0 )
{
direction = -1;
driveTarget *= -1;
}
nMotorEncoder[LeftMWheel] = 0;
int distance = 0;
int pwr = 0;
while(distance < driveTarget )
{
//distance = abs ( nMotorEncoder[leftBack] + nMotorEncoder[rightBack] ) / 2;
distance = abs(nMotorEncoder[LeftMWheel]);
if( distance <= driveTarget / 2)
pwr = distance / 5 + 20;
else
pwr = ( driveTarget - distance ) / 10 + 20;
pwr *= direction;
setLeft(pwr);
setRight(pwr);
}
setLeft(0);
setRight(0);
}
// time is in milliseconds
// distance is in tenths of inches
// direction is 1 or -1 -- positive is forwards
void moveStraight(int direction, int time, int driveTarget)
{
nMotorEncoder[LeftMWheel] = 0;
int distance = 0;
float pwr = 0;
while(distance < driveTarget )
{
distance = abs(nMotorEncoder[LeftMWheel]);
//initial version
//pwr = 64 * sin(distance * PI / driveTarget);
//improved version
//SHITTY PID:
//pwr = 0.05 * (driveTarget - distance) + 0.0003 * (0.05 * (driveTarget * distance - 0.5 * (distance * distance)));
if( distance <= driveTarget / 2)
pwr = distance / 5 + 20; //TODO: figure out how this works
else
pwr = ( driveTarget - distance ) / 10 + 20;
//pwr = -1 * (1.11 * sqrt(driveTarget) - 10) * cos(distance * 2 * PI / driveTarget) + (1.11 * sqrt(distance)) + 10;
pwr *= direction;
setLeft(pwr);
setRight(pwr);
}
setLeft(0);
setRight(0);
}
void PlayerInputStruct::fromGameEvent(const GameControl &control, bool state)
{
switch(control)
{
case GameControl::ACTION:
setAction(state);
break;
case GameControl::UP:
if(state)
setUp(100000);
else
setUp(0);
break;
case GameControl::DOWN:
if(state)
setDown(100000);
else
setDown(0);
break;
case GameControl::LEFT:
if(state)
setLeft(100000);
else
setLeft(0);
break;
case GameControl::RIGHT:
if(state)
setRight(100000);
else
setRight(0);
break;
case GameControl::BUTTON1:
setButton1(state);
break;
case GameControl::BUTTON2:
setButton2(state);
break;
case GameControl::BUTTON3:
setButton3(state);
break;
case GameControl::BUTTON4:
setButton4(state);
break;
case GameControl::BUTTON5:
setButton5(state);
break;
case GameControl::BUTTON6:
setButton6(state);
break;
default:
//Nothing to do; control is not handled by the automatic conversion.
break;
}
}
void pickUpBall(int goals)
{
resetValues(0);
intake(1);
wait10Msec(30);
int current = 0;
while(current < goals * 250)
{
setLeft(25); setRight(25);
current = nMotorEncoder[LeftMWheel];
}
intake(0);
setLeft(0); setRight(0);
}
void blueUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
waitForButton();
//liftDown();
// end Devansh
//waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(1, 0, 200);
//crossBump();
lift(BUMP);
nMotorEncoder[LeftMWheel] = 0;
if(true)
{
setRight(127);
wait10Msec(10);
setLeft(127);
}
while (abs(nMotorEncoder[LeftMWheel]) < 500)
{
setRight(127); setLeft(127);
}
setRight(0); setLeft(0);
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
Snake::Snake():AnimUT()
{
#ifdef debug
qDebug("Snake launched");
#endif
controls->addAnimationControl(animate, 200);
cellSize = 15;
nbCells = 20;
// controls
snakeItem = new SnakeItem(cellSize, nbCells);
controls->addLabel("Movements");
QPushButton *upBtn = controls->addButton("Up");
connect(upBtn, SIGNAL(released()), snakeItem, SLOT(setUp()));
QPushButton *downBtn = controls->addButton("Down");
connect(downBtn, SIGNAL(released()), snakeItem, SLOT(setDown()));
QPushButton *leftBtn = controls->addButton("Left");
connect(leftBtn, SIGNAL(released()), snakeItem, SLOT(setLeft()));
QPushButton *rightBtn = controls->addButton("Right");
connect(rightBtn, SIGNAL(released()), snakeItem, SLOT(setRight()));
controls->addDivider();
score = controls->addLabel("Score : 0");
connect(snakeItem, SIGNAL(updateScore(int)), this, SLOT(updateScore(int)));
// viewer
drawBorders();
viewer->addItem(snakeItem);
}
bool AnchorsBase::setAnchor(const Qt::AnchorPoint &p, QWidget *target, const Qt::AnchorPoint &point)
{
if (!target) {
return false;
}
AnchorsBase *base = AnchorsBasePrivate::getWidgetAnchorsBase(target);
if (!base) {
base = new AnchorsBase(target);
}
const AnchorInfo *info = base->d_func()->getInfoByPoint(point);
switch (p) {
case Qt::AnchorTop:
return setTop(info);
case Qt::AnchorBottom:
return setBottom(info);
case Qt::AnchorLeft:
return setLeft(info);
case Qt::AnchorRight:
return setRight(info);
case Qt::AnchorHorizontalCenter:
return setHorizontalCenter(info);
case Qt::AnchorVerticalCenter:
return setVerticalCenter(info);
default:
return false;
}
}
PixelRegion PixelRegion::globalCut(Side side, int p) {
if (!lineIntersect(side, p)) {
return PixelRegion({ 0, 0 }, { 0, 0 });
}
PixelRegion cutOff(*this);
int cutSize = 0;
switch (side) {
case LEFT:
setLeft(p);
cutOff.setRight(p - cutSize);
break;
case TOP:
setTop(p);
cutOff.setBottom(p - cutSize);
break;
case RIGHT:
setRight(p);
cutOff.setLeft(p + cutSize);
break;
case BOTTOM:
setBottom(p);
cutOff.setTop(p + cutSize);
break;
}
return cutOff;
}
void GuiSetBorder::mousePressEvent(QMouseEvent * e)
{
if (e->y() > e->x()) {
if (e->y() < height() - e->x()) {
if (left_.enabled) {
setLeft(!left_.set);
// emit signal
leftSet(left_.set);
}
} else {
if (bottom_.enabled) {
setBottom(!bottom_.set);
// emit signal
bottomSet(bottom_.set);
}
}
} else {
if (e->y() < height() - e->x()) {
if (top_.enabled) {
setTop(!top_.set);
// emit signal
topSet(top_.set);
}
} else {
if (right_.enabled) {
setRight(!right_.set);
// emit signal
rightSet(right_.set);
}
}
}
update();
// emit signal
clicked();
}
void Rect::expand( const QPoint& point )
{
setLeft ( qMin(point.x(), left() ) );
setRight ( qMax(point.x(), right() ) );
setTop ( qMax(point.y(), top() ) );
setBottom( qMin(point.y(), bottom()) );
};
void SettingsPageComponent::resized() {
auto bounds = getLocalBounds();
int numRows = 4;
double rowProp = 0.6/numRows;
{
for (int i = 0, j = 0; i < numRows; ++i) {
if (i > 0) verticalLayout.setItemLayout(j++, 0, -1, -1);
verticalLayout.setItemLayout(j++, -rowProp, -rowProp, -rowProp);
}
Component *settingsItems[] = {
wifiCategoryItem, nullptr,
screenBrightnessSlider, nullptr,
volumeSlider, nullptr,
advanced
};
int numItems = sizeof(settingsItems) / sizeof(Component*);
auto b = bounds;
b.setLeft(60);
b.setTop(30);
b.setHeight(b.getHeight() - 30);
b.setWidth(b.getWidth() - 60);
verticalLayout.layOutComponents(settingsItems, numItems, b.getX(), b.getY(), b.getWidth(),
b.getHeight(), true, true);
}
mainPage->setBounds(bounds);
backButton->setBounds(bounds.getX(), bounds.getY(), 60, bounds.getHeight());
}
static RenderStyle createFullScreenStyle()
{
auto fullscreenStyle = RenderStyle::create();
// Create a stacking context:
fullscreenStyle.setZIndex(INT_MAX);
fullscreenStyle.setFontDescription({ });
fullscreenStyle.fontCascade().update(nullptr);
fullscreenStyle.setDisplay(FLEX);
fullscreenStyle.setJustifyContentPosition(ContentPositionCenter);
fullscreenStyle.setAlignItemsPosition(ItemPositionCenter);
fullscreenStyle.setFlexDirection(FlowColumn);
fullscreenStyle.setPosition(FixedPosition);
fullscreenStyle.setWidth(Length(100.0, Percent));
fullscreenStyle.setHeight(Length(100.0, Percent));
fullscreenStyle.setLeft(Length(0, WebCore::Fixed));
fullscreenStyle.setTop(Length(0, WebCore::Fixed));
fullscreenStyle.setBackgroundColor(Color::black);
return fullscreenStyle;
}
task usercontrol()
{
// Flags
// Servo / program initialization:
zeroEncoders();
// Main loop:
waitForStart();
while (true)
{
getJoystickSettings(joystick);
setLeft(100);
setRight(100);
}
return;
}
BPlusNode::BPlusNode(IXFileHdr &hdr, PFPageHandle &page, bool load)
: len_(hdr.len)
, type_(hdr.type)
, capacity_(hdr.capacity)
, page_(page)
{
// allocPage 用于表示这个页面是否为新分配的
// 布局如下
// 一共n个key,占据 n * len_字节的大小
// 一共n个rid,占据 n * sizeof(RID) 字节的大小
// 一个字节用于记录一共有多少个key,占据sizeof(numOfKeys_)字节的大小
// 一个left字段,占据sizeof(Page)字节的大小
// 一个right字段,占据了sizeof(Page)字节的大小
Ptr addr = page.rawPtr();
num_ = page.page();
keys_ = addr;
rids_ = reinterpret_cast<RID *>(addr + len_ * capacity_);
if (load) { // 说明这个页面实际上已经初始化过了
size_ = size();
left_ = left();
right_ = right();
}
else { // 这里需要重新初始化
size_ = 0;
setSize(0);
setLeft(-1);
setRight(-1);
page.setDirty();
}
}
void GfxCropDialog::bindEvents()
{
// Left text box
text_left_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_left_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setLeft();
e.Skip();
});
// Top text box
text_top_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_top_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setTop();
e.Skip();
});
// Right text box
text_right_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_right_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setRight();
e.Skip();
});
// Bottom text box
text_bottom_->Bind(wxEVT_TEXT_ENTER, &GfxCropDialog::onTextEnter, this);
text_bottom_->Bind(wxEVT_KILL_FOCUS, [&](wxFocusEvent& e) {
setBottom();
e.Skip();
});
// Absolute/Relative radio buttons
rb_absolute_->Bind(wxEVT_RADIOBUTTON, [&](wxCommandEvent&) { updateValues(); });
rb_relative_->Bind(wxEVT_RADIOBUTTON, [&](wxCommandEvent&) { updateValues(); });
}
void GuiSetBorder::setAll(bool border)
{
setLeft(border);
setRight(border);
setTop(border);
setBottom(border);
}
void buildBinaryTree(pin_node root, int i)
{
int v;
pin_node q, p;
p = q = root;
while (q) {
p = q;
v = info(p);
if (v == i) {
printf("duplicate\n");
q = NULL;
} else if (v < i) {
q = q->left;
} else {
q = q->right;
}
}
if (p) {
int v = p->val;
if (v < i) {
setLeft(p, i);
} else {
setRight(p, i);
}
}
}
int MailTreeDelegate::DrawMessageActionIcons (QPainter *painter,
const QStyleOptionViewItem& option, const QModelIndex& index, int height) const
{
if (Mode_ != MailListMode::Normal)
return 0;
if (option.state & QStyle::State_MouseOver)
return 0;
const auto& actionsVar = index.data (MailModel::MailRole::MessageActions);
if (actionsVar.isNull ())
return 0;
auto actionInfos = actionsVar.value<QList<MessageListActionInfo>> ();
if (actionInfos.isEmpty ())
return 0;
std::reverse (actionInfos.begin (), actionInfos.end ());
if (ActionsHintsBalls_)
height -= Padding * 2;
painter->save ();
painter->setRenderHint (QPainter::Antialiasing);
painter->setPen (Qt::NoPen);
auto rect = option.rect;
rect.setLeft (rect.right () - height - Padding);
rect.setSize ({ height, height });
rect.moveTop (rect.top () + Padding);
for (const auto& item : actionInfos)
{
if (item.Flags_ & MessageListActionFlag::AlwaysPresent)
continue;
if (ActionsHintsBalls_)
{
QRadialGradient gradient;
gradient.setCoordinateMode (QGradient::ObjectBoundingMode);
gradient.setFocalPoint ({ 0.3, 0.3 });
gradient.setCenter ({ 0.5, 0.5 });
gradient.setRadius (0.5);
gradient.setColorAt (0, item.ReprColor_.lighter (200));
gradient.setColorAt (1, item.ReprColor_.darker (120));
painter->setBrush (gradient);
painter->drawEllipse (rect);
}
else
item.Icon_.paint (painter, rect);
rect.moveLeft (rect.left () - height - Padding);
}
painter->restore ();
return option.rect.right () - rect.right ();
}
void PixelRegion::setSide(Side side, int pos) {
switch (side) {
case LEFT: setLeft(pos); break;
case TOP: setTop(pos); break;
case RIGHT: setRight(pos); break;
case BOTTOM: setBottom(pos); break;
}
}
// -1 is max left
// 0 is max forward
// 1 is max right
void MotorController::arc(double direction, double speedScale) {
if (abs(direction) > 1)direction /= abs(direction); //makes direction between 1 & -1
printf("Direction: %f\n", direction);
if (direction < 0) { //left
setLeft((int) (LEFT_MAX * (1 - abs((int) direction)) *
speedScale)); //sets the left motor to something less than the max speed
setRight((int) (RIGHT_MAX * (speedScale - 0.05))); //sets the right motor to max speed
} else if (direction > 0) { //right
setLeft((int) (LEFT_MAX * speedScale)); //sets the left motor the max speed
setRight((int) (RIGHT_MAX * (1 - direction) *
speedScale)); //sets the right motor to something less than the max speed
} else if (direction == 0) {
moveForward();
}
}
OOModel::Expression* AssignmentDescriptor::create(const QList<OOModel::Expression*>& operands)
{
auto ae = new OOModel::AssignmentExpression();
ae->setOp(assignmentType_);
ae->setLeft(operands.first());
ae->setRight(operands.last());
return ae;
}
struct tree *createTree(int data, struct tree *left, struct tree *right) {
struct tree *structtree = malloc(sizeof(struct tree));
assert(structtree!=NULL); //check to make sure structtree exist
structtree->value = data; //give value to the tree
structtree->parent = NULL; //set parent
setLeft(structtree, left); //set child
setRight(structtree, right); //set child
return structtree;
}
QRectF ScriptEditorItem::boundingRect() const
{
auto br = QGraphicsTextItem::boundingRect();
br.setBottom(br.bottom() + border);
br.setTop(br.top() - border);
br.setLeft(br.left() - border);
br.setRight(br.right() + border);
return br;
}
void setTemp()
{
//initalises temp, get sensor readings and sets the local temp to a normalised neural vector
clearTemp();
setLeft();
setCentre();
setRight();
normaliseTemp();
}
void PlayerInputAbs::swapSides()
{
bool left = mFlags & F_LEFT;
bool right = mFlags & F_RIGHT;
setLeft(right);
setRight(left);
mTarget = RIGHT_PLANE - mTarget;
}
void Udit()
{
deploy();
intake(true);
moveStraight(1, 0, 150);
wait10Msec(30);
moveStraight(-1, 0, 150);
lift(BUMP);
moveStraight(-1, 0, 150);
setRight(127); setLeft(127);
}
// -----------------------------------------------------------------------------
// Called when enter is pressed in a text box
// -----------------------------------------------------------------------------
void GfxCropDialog::onTextEnter(wxCommandEvent& e)
{
if (e.GetEventObject() == text_left_)
setLeft();
else if (e.GetEventObject() == text_top_)
setTop();
else if (e.GetEventObject() == text_right_)
setRight();
else if (e.GetEventObject() == text_bottom_)
setBottom();
}
static struct tree *insert(struct tree *root, int x)
{
if (root == NULL)
root = createTree(x, NULL, NULL);
else if (x < getData(root))
setLeft(root, insert(getLeft(root), x));
else
setRight(root, insert(getRight(root), x));
return root;
}
//----Gets local view and processes ready for comparison----//
void setTemp()
{
//initalises temp, get sensor readings and sets the local temp to a normalised neural vector
clearTemp();
float rightSonarValue = SensorValue(rightSonar); //obvious
float leftSonarValue = SensorValue(leftSonar);
float centreSonarValue = SensorValue(centreSonar);
setLeft(leftSonarValue);
setCentre(centreSonarValue);
setRight(rightSonarValue);
normaliseTemp();
}
