rc2007-soccer/source/Concept/Framework/main.c

#include "stdafx.h"

int main()
{
	//Init our robot
	Robot* localRobot = new Robot();

	//Init Engines
	for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
	{
		Engine* newEngine = new Engine(i);
		localRobot->AddModule(newEngine);
		newEngine = NULL;
	}

	//Init Dribbler
	for(uint8 i = IO_DRIBBLER_START; i < IO_DRIBBLER_END; i++)
	{
		Dribbler* newDribbler = new Dribbler(i);
		localRobot->AddModule(newDribbler);
		newDribbler = NULL;
	}

	//Init Kicker
	for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)
	{
		Kicker* newKicker = new Kicker(i);
		localRobot->AddModule(newKicker);
		newKicker = NULL;
	}

	//Init Sensors
	for(uint8 i = IO_SENSOR_START; i < IO_SENSOR_END; i++)
	{
		switch(i)
		{
			//Create correct type of sensor
			case IO_SENSOR_IR_0_DEG:
			case IO_SENSOR_IR_30_DEG:
			case IO_SENSOR_IR_60_DEG:
			case IO_SENSOR_IR_100_DEG:
			case IO_SENSOR_IR_180_DEG:
			case IO_SENSOR_IR_260_DEG:
			case IO_SENSOR_IR_300_DEG:
			case IO_SENSOR_IR_330_DEG:
			{
				IR_Sensor* newSensor = new IR_Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
				break;
			}
			case IO_SENSOR_DISTANCE_0_DEG:
			case IO_SENSOR_DISTANCE_90_DEG:
			case IO_SENSOR_DISTANCE_180_DEG:
			case IO_SENSOR_DISTANCE_270_DEG:
			{
				Distance_Sensor* newSensor = new Distance_Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
				break;
			}
			case IO_SENSOR_MOUSE_LEFT:
			case IO_SENSOR_MOUSE_RIGHT:
			{
				Mouse_Sensor* newSensor = new Mouse_Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
				break;
			}
			//Other cases
			default:
			{
				Sensor* newSensor = new Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
				break;
			}
		}
	}

	//Init Leds
	for(uint8 i = IO_LED_START; i < IO_LED_END; i++)
	{
		Led* newLed = new Led(i);
		localRobot->AddModule(newLed);
		newLed = NULL;
	}

	//Init Displays
	for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
	{
		Display* newDisplay = new Display(i);
		localRobot->AddModule(newDisplay);
		newDisplay = NULL;
	}

	//Init Keyboards
	for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)
	{
		Keyboard* newKeyboard = new Keyboard(i);
		localRobot->AddModule(newKeyboard);
		newKeyboard = NULL;
	}

	//Init Position Tracker
	for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
	{
		Position_Tracker* newPositionTracker = new Position_Tracker(i);
		localRobot->AddModule(newPositionTracker);
		newPositionTracker = NULL;
	}

	//Init Ball Tracker
	for(uint8 i = IO_BALL_TRACKER_START; i < IO_BALL_TRACKER_END; i++)
	{
		Ball_Tracker* newBallTracker = new Ball_Tracker(i);
		localRobot->AddModule(newBallTracker);
		newBallTracker = NULL;
	}

	//Init Navigators
	for(uint8 i = IO_NAVIGATOR_START; i < IO_NAVIGATOR_END; i++)
	{
		Navigator* newNavigator = new Navigator(i);
		localRobot->AddModule(newNavigator);
		newNavigator = NULL;
	}

	

	IR_Sensor* ourSensor = NULL;
	uint16 value = 0;
	int8 value2 = 0;
	Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
	uint32 i = 1;
	Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);

	//Run
	while(true)
	{
		msleep(500);
		ourDisplay->Clear();
		ourDisplay->Print(i++);
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value, 1, 2);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value, 1, 3);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		value2 = (localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT))->GetXMovement();
		ourDisplay->Print(value2, 10, 4);
		value2 = (localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT))->GetYMovement();
		ourDisplay->Print(value2, 15, 4);

		localRobot->Update();

		ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
	}

	//Cleanup
	delete localRobot;
	localRobot = NULL;
}