void set_UserTank(int* angle, int* velocity, psController ps, tank* user, tank* enemy, terrain tr)
{
char done_Charging = 0;
char hasxBeenPressed = 0;
//Draw background of power bar
alt_up_pixel_buffer_dma_draw_box(pixel_buffer, x0_chargeBar, y0_chargeBar, (MAX_VELOCITY) + x0_chargeBar, chargeBar_Width + y0_chargeBar, 0x7BEF, 0);
alt_up_pixel_buffer_dma_draw_box(pixel_buffer, x0_chargeBar, y0_chargeBar, (MAX_VELOCITY) + x0_chargeBar, chargeBar_Width + y0_chargeBar, 0x7BEF, 1);
//loop continues until x is pressed and released, a collision occurs, or velocity maxed out
while(done_Charging == 0)
{
update_Controller_Keys(&ps);
set_Angle( angle, ps);
done_Charging = set_Velocity( velocity, ps);
if(ps.b.x == 1)
hasxBeenPressed = 1;
//X has been released
if(ps.b.x == 0 && hasxBeenPressed == 1)
done_Charging = 1;
if(ps.b.right == 1)
{
moveTank(user, 2, 1); //go right
drawTank(user, tr);
drawTank(enemy, tr);
updateVGA();
}
else if(ps.b.left)
{
moveTank(user, 1, 1); // go left
drawTank(user, tr);
drawTank(enemy, tr);
updateVGA();
}
display_Input(*angle, *velocity);
delay();
}
}
int SingleJoint::set_PID(float pos, float vel) {
return set_Velocity(pid_.run(current_Angle_.angle.value(), pos + offset_, vel));
}
