From da9860f9a414d8ab403496ac74a51afc5ad3e48b Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sun, 18 Feb 2007 17:57:03 +0000
Subject: +++ Additional Codework

---
 source/Concept/Framework/main.c | 53 ++++++++++++++++++++++++++++++++++-------
 1 file changed, 45 insertions(+), 8 deletions(-)

(limited to 'source/Concept/Framework/main.c')

diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c
index fa6d718..7822933 100755
--- a/source/Concept/Framework/main.c
+++ b/source/Concept/Framework/main.c
@@ -132,13 +132,54 @@ int main()
 	uint16 value = 0;
 	int8 value2 = 0;
 	Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+	Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
 	uint32 i = 1;
-	Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+	Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+	float rotation = 0;
+
+	ourDisplay->Print("Starting...", 1, 1);
 
 	//Run
 	while(true)
 	{
-		msleep(500);
+		uint8 someInput = ourKeyboard->GetInput();
+		switch(someInput)
+		{
+			case 1:
+				ourNavigator->Drive(225.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 2:
+				ourNavigator->Drive(180.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 3:
+				ourNavigator->Drive(135.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 4:
+				ourNavigator->Drive(270.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 5:
+				ourNavigator->Stop();
+				break;
+			case 6:
+				ourNavigator->Drive(90.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 7:
+				ourNavigator->Drive(315.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 8:
+				ourNavigator->Drive(0.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 9:
+				ourNavigator->Drive(45.0f * PI / 180.0f, rotation, 200, rotation);
+				break;
+			case 10:
+				rotation -= 10;
+				break;
+			case 12:
+				rotation += 10;
+				break;
+		}
+		msleep(50);/*
 		ourDisplay->Clear();
 		ourDisplay->Print(i++);
 		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
@@ -172,15 +213,11 @@ int main()
 		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);
+		ourDisplay->Print(";");*/
 
 		localRobot->Update();
 
-		ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
+		//ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
 	}
 
 	//Cleanup
-- 
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