From f544ab78229d3a4d54b910135ba61bb816009589 Mon Sep 17 00:00:00 2001 From: sicarius Date: Thu, 22 Feb 2007 20:59:02 +0000 Subject: The Last Day ? --- source/Concept/Framework/main.c | 130 ++++++++++++++++++++++------------------ 1 file changed, 71 insertions(+), 59 deletions(-) (limited to 'source/Concept/Framework/main.c') diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index 1875847..ffc4cc9 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -159,6 +159,8 @@ int main() //Debug code Display* ourDisplay = localRobot->GetModule(IO_DISPLAY_MAIN); ourDisplay->Clear(); + ourDisplay->Print("Roboter fertig gestartet",1,1); + sleep(1); IR_Sensor* ourSensor = NULL; @@ -175,51 +177,49 @@ int main() ourDribbler->SetSpeed(1); ourDribbler->SetEnabled(true); Aktuator* ourAktuator = localRobot->GetModule(IO_AKTUATOR_MAIN); - + Logic* ourLogic = localRobot->GetModule(IO_LOGIC_MAIN); + float rotation = 0; float speed = 200; //Mouse_Sensor* mouse_left = localRobot->GetModule(IO_SENSOR_MOUSE_LEFT); //Mouse_Sensor* mouse_right = localRobot->GetModule(IO_SENSOR_MOUSE_RIGHT); + ourDisplay->Clear(); //Run while(true) { ourDisplay->Print(i++,1,1); - msleep(100); + //msleep(50); - if(!(i % 1)) + if(!(i % 20)) { ourDisplay->Clear(); - //ourDisplay->Print(ourPosition_Tracker->GetPositionX(),1,2); - //ourDisplay->Print(ourPosition_Tracker->GetPositionY(),1,3); - //ourDisplay->Print(ourPosition_Tracker->GetOrientation() * 180.0f / PI,1,4); + + distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_0_DEG); + value = distanceSensor->GetDistance(); + ourDisplay->Print(value, 1, 4); + ourDisplay->Print(";"); + distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_90_DEG); + value = distanceSensor->GetDistance(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_180_DEG); + value = distanceSensor->GetDistance(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_270_DEG); + value = distanceSensor->GetDistance(); + ourDisplay->Print(value); + ourDisplay->Print(";"); } - if(!(i % 50)) + if(!(i % 20)) { - ourAktuator->Kick(); + //ourAktuator->Kick(); } - - - distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_0_DEG); - value = distanceSensor->GetDistance(); - ourDisplay->Print(value, 1, 2); - ourDisplay->Print(";"); - distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_90_DEG); - value = distanceSensor->GetDistance(); - ourDisplay->Print(value); - ourDisplay->Print(";"); - distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_180_DEG); - value = distanceSensor->GetDistance(); - ourDisplay->Print(value, 1, 3); - ourDisplay->Print(";"); - distanceSensor = localRobot->GetModule(IO_SENSOR_DISTANCE_270_DEG); - value = distanceSensor->GetDistance(); - ourDisplay->Print(value); - ourDisplay->Print(";"); uint8 someInput = ourKeyboard->GetInput(); //ourDisplay->Print("Ready to accept...", 1, 2); @@ -260,43 +260,55 @@ int main() ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker break; case 12: - ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker + ourLogic->SetKeeper(true); // Reset Position_Tracker break; } //ourDisplay->Clear(); - /*ourSensor = localRobot->GetModule(IO_SENSOR_IR_0_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value, 1, 2); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_30_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_60_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_100_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_180_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value, 1, 3); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_260_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_300_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value); - ourDisplay->Print(";"); - ourSensor = localRobot->GetModule(IO_SENSOR_IR_330_DEG); - value = ourSensor->GetIRIntensity(); - ourDisplay->Print(value); - ourDisplay->Print(";");*/ + if(!(i % 20)) + { + /*ourDisplay->Clear(); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_0_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value, 1, 2); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_30_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_60_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_100_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_180_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value, 1, 3); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_260_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_300_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + ourSensor = localRobot->GetModule(IO_SENSOR_IR_330_DEG); + value = ourSensor->GetIRIntensity(); + ourDisplay->Print(value); + ourDisplay->Print(";"); + if(ourBallTracker->KnowsBallDirection()) + { + ourDisplay->Print(ourBallTracker->GetBallDirection() * 180.0f / PI, 1, 4); + } + else + { + ourDisplay->Print("Not found oder so", 1, 4); + }*/ + } localRobot->Update(); -- cgit v1.2.3