#include "Arduino.h" #include "olr-lib.h" void process_main_track( track_t* tck, car_t* car ); void process_aux_track( track_t* tck, car_t* car ); void init_car( car_t* car, controller_t* ct, uint32_t color ) { car->ct = ct; car->color = color; car->trackID = TRACK_MAIN; car->speed=0; car->dist=0; car->dist_aux=0; } void update_controller( car_t* car ) { car->speed += get_controller( car->ct ); } void update_track( track_t* tck, car_t* car ) { controller_t* ct = car->ct; struct cfgtrack const* cfg = &tck->cfg.track; if ( car->trackID == TRACK_MAIN && (int)car->dist % cfg->nled_main == cfg->init_aux && get_controllerStatus( ct ) == 0 ) { car->trackID = TRACK_AUX; car->dist_aux = 0; } else if( car->trackID == TRACK_AUX && car->dist_aux > cfg->nled_aux ) { car->trackID = TRACK_MAIN; car->dist += cfg->nled_aux; } /* Update car position in the current track */ if ( car->trackID == TRACK_AUX ) process_aux_track( tck, car ); else if ( car->trackID == TRACK_MAIN ) process_main_track( tck, car ); /* Update car lap */ if ( car->dist > ( cfg->nled_main*car->nlap -1) ) car->nlap++; } void process_aux_track( track_t* tck, car_t* car ){ struct cfgtrack const* cfg = &tck->cfg.track; if ( (int)car->dist_aux == tck->ledcoin && car->speed <= get_accel() ) { car->speed = get_accel ()*10; tck->ledcoin = COIN_RESET; }; car->speed -= car->speed * cfg->kf; car->dist_aux += car->speed; } void process_main_track( track_t* tck, car_t* car ) { struct cfgtrack const* cfg = &tck->cfg.track; if ( tck->rampactive ) { struct cfgramp const* r = &tck->cfg.ramp; int const pos = (int)car->dist % cfg->nled_main; if ( pos >= r->init && pos < r->center ) car->speed -= cfg->kg * r->high * ( pos - r->init ); if ( pos <= r->end && pos > r->center ) car->speed += cfg->kg * r->high * ( pos - r->center ); } car->speed -= car->speed * cfg->kf; car->dist += car->speed; } void init_ramp( track_t* tck ) { tck->rampactive = true; } bool ramp_isactive( track_t* tck ) { return tck->rampactive; } void reset_carPosition( car_t* car) { car->trackID = TRACK_MAIN; car->speed = 0; car->dist = 0; car->dist_aux = 0; car->nlap = 1; car->leaving = false; } int track_configure( track_t* tck, int init_box ) { struct cfgtrack* cfg = &tck->cfg.track; if( init_box >= cfg->nled_main ) return -1; cfg->nled_main = ( init_box == 0 ) ? cfg->nled_total : init_box; cfg->nled_aux = ( init_box == 0 ) ? 0 : cfg->nled_total - init_box; cfg->init_aux = init_box - 1; return 0; } int track_cfgramp( track_t* tck, int center, int high ) { struct cfgramp* ramp = &tck->cfg.ramp; if ( center >= tck->cfg.track.nled_main || center <= 0 ) return -1; ramp->center = center; ramp->high = high; return 0; }