163 lines
4.2 KiB
C
163 lines
4.2 KiB
C
#include "Arduino.h"
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#include "olr-lib.h"
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void process_main_track( track_t* tck, car_t* car );
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void process_aux_track( track_t* tck, car_t* car );
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void car_init( car_t* car, controller_t* ct, uint32_t color ) {
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car->ct = ct;
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car->color = color;
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car->trackID = TRACK_MAIN;
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car->speed=0;
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car->dist=0;
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car->dist_aux=0;
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}
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void car_updateController( car_t* car ) {
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car->speed += controller_getSpeed( car->ct );
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}
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void update_track( track_t* tck, car_t* car ) {
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controller_t* ct = car->ct;
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struct cfgtrack const* cfg = &tck->cfg.track;
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if ( car->trackID == TRACK_MAIN
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&& (int)car->dist % cfg->nled_main == (cfg->init_aux-(cfg->nled_aux))
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// && controller_getStatus( ct ) == 0 ) { //change track by switch
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&& (car->speed <= SPD_MIN_TRACK_AUX )) { //change track by low speed
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car->trackID = TRACK_AUX;
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car->dist_aux = 0;
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}
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else if( car->trackID == TRACK_AUX
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&& car->dist_aux > cfg->nled_aux ) {
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car->trackID = TRACK_MAIN;
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car->dist += cfg->nled_aux;
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}
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/* Update car position in the current track */
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if ( car->trackID == TRACK_AUX ) process_aux_track( tck, car );
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else if ( car->trackID == TRACK_MAIN ) process_main_track( tck, car );
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/* Update car lap */
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if ( car->dist > ( cfg->nled_main*car->nlap -1) ) car->nlap++;
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}
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void process_aux_track( track_t* tck, car_t* car ){
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struct cfgtrack const* cfg = &tck->cfg.track;
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if ( (int)car->dist_aux == tck->ledcoin
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&& car->speed <= controller_getAccel() ) {
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car->speed = controller_getAccel ()*50;
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tck->ledcoin = COIN_RESET;
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};
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car->speed -= car->speed * cfg->kf;
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car->dist_aux += car->speed;
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}
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void process_main_track( track_t* tck, car_t* car ) {
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struct cfgtrack const* cfg = &tck->cfg.track;
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if ( tck->rampactive ) {
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struct cfgramp const* r = &tck->cfg.ramp;
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int const pos = (int)car->dist % cfg->nled_main;
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if ( pos >= r->init && pos < r->center )
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car->speed -= cfg->kg * r->high * ( pos - r->init );
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if ( pos <= r->end && pos > r->center )
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car->speed += cfg->kg * r->high * ( pos - r->center );
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}
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car->speed -= car->speed * cfg->kf;
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car->dist += car->speed;
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}
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void ramp_init( track_t* tck ) {
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tck->rampactive = true;
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}
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bool ramp_isactive( track_t* tck ) {
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return tck->rampactive;
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}
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void car_resetPosition( car_t* car) {
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car->trackID = TRACK_MAIN;
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car->speed = 0;
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car->dist = 0;
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car->dist_aux = 0;
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car->nlap = 1;
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car->leaving = false;
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}
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void box_init( track_t* tck ) {
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tck->boxactive = true;
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}
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bool box_isactive( track_t* tck ) {
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return tck->boxactive;
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}
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int tracklen_configure( track_t* tck, int nled ) {
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struct cfgtrack* cfg = &tck->cfg.track;
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if( nled <= 0 ) return -1;
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cfg->nled_total = nled;
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return 0;
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}
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int boxlen_configure( track_t* tck, int box_len ) {
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struct cfgtrack* cfg = &tck->cfg.track;
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if( box_len <= 0 || box_len >= cfg->nled_total ) return -1;
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cfg->box_len = box_len;
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return 0;
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}
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int track_configure( track_t* tck, int init_box ) {
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struct cfgtrack* cfg = &tck->cfg.track;
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if(init_box >= cfg->nled_total ) return -1;
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cfg->nled_main = ( init_box == 0 ) ? cfg->nled_total : init_box;
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cfg->nled_aux = ( init_box == 0 ) ? 0 : cfg->nled_total - init_box;
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cfg->init_aux = init_box - 1;
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return 0;
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}
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int ramp_configure( track_t* tck, int init, int center, int end, int high ) {
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struct cfgramp* ramp = &tck->cfg.ramp;
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if ( init >= tck->cfg.track.nled_main || init <= 0 ) return -1;
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if ( center >= tck->cfg.track.nled_main || center <= 0 ) return -2;
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if ( end >= tck->cfg.track.nled_main || end <= 0 ) return -3;
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if ( ! (center > init && center < end) ) return -4;
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ramp->init = init;
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ramp->center = center;
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ramp->end = end;
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ramp->high = high;
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return 0;
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}
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int race_configure( track_t* tck, int startline, int nlap, int nrepeat, int finishline ) {
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struct cfgrace* race = &tck->cfg.race;
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if ( startline != 0 && startline != 1 ) return -1;
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if ( finishline != 0 && finishline != 1 ) return -1;
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race->startline = startline;
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race->finishline = finishline;
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race->nlap = nlap;
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race->nrepeat = nrepeat;
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return 0;
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}
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