diff options
Diffstat (limited to 'client/ui_dirc.c')
| -rw-r--r-- | client/ui_dirc.c | 112 |
1 files changed, 112 insertions, 0 deletions
diff --git a/client/ui_dirc.c b/client/ui_dirc.c new file mode 100644 index 0000000..ed69cd2 --- /dev/null +++ b/client/ui_dirc.c @@ -0,0 +1,112 @@ +#include "../shared/protocol.h" +#include "../shared/util.h" +#include "commands.h" +#include "ui.h" + +/** decay modifier */ +#define W2_DIRC_MOD ((double)0.95) +/** add value per key press */ +#define W2_DIRC_ADD ((double)17.0) +/** padding */ +#define W2_DIRC_PAD ((double)3.00) +/** average samples */ +#define W2_DIRC_SPL ((unsigned int)14) +/** steering padding */ +#define W2_DIRC_STP ((double)0.2) + +int w2_avg(int *samples, unsigned int sample_count) { + double total = 0; + for (int i = 0; i < sample_count; i++) { + total += (double)samples[i] / (double)sample_count; + } + return (int)total; +} + +#define W2_DIRC_MOTOR_DRIVER(name) \ + int w2_dirc_motor_##name(unsigned int forward, unsigned int backward) { \ + static unsigned int idx = 0; \ + \ + static double drive = 0.f; \ + static int drive_avg[W2_DIRC_SPL] = {0}; \ + \ + drive *= W2_DIRC_MOD; \ + drive += W2_DIRC_ADD * forward + -W2_DIRC_ADD * backward; \ + drive = W2_RANGE(-254, drive, 255); \ + \ + idx = (idx + 1) % W2_DIRC_SPL; \ + drive_avg[idx] = (int)W2_RANGE(-254, drive * W2_DIRC_PAD, 255); \ + \ + return w2_avg(drive_avg, W2_DIRC_SPL); \ + } + +W2_DIRC_MOTOR_DRIVER(l); +W2_DIRC_MOTOR_DRIVER(r); + +void w2_ui_dirc_init() { w2_send_mode(W2_M_DIRC); } + +void w2_ui_bar_graph(unsigned int y, unsigned int x, unsigned int width, double value) { + char temp[width]; + temp[0] = '|'; + temp[width - 1] = '|'; + for (unsigned int i = 0; i < width - 2; i++) temp[i + 1] = i < width * value ? '*' : ' '; + + mvaddnstr(y, x, temp, width); +} + +void w2_ui_bar_graph_pm(unsigned int y, unsigned int x, unsigned int width, double value) { + char temp[width]; + temp[0] = '|'; + temp[width - 1] = '|'; + width -= 2; + unsigned int hw = width / 2; + if (value >= 0) { + for (unsigned int i = 0; i < width; i++) + temp[i + 1] = i < hw ? ' ' : (i - hw) < (hw * value) ? '*' : ' '; + } else { + for (unsigned int i = 0; i < width; i++) + temp[i + 1] = i > hw ? ' ' : (hw - i) < -(hw * value) ? '*' : ' '; + } + + mvaddnstr(y, x, temp, width + 2); +} + +void w2_ui_dirc_paint(int left, int right) { + mvaddstr(4, 0, "left drive: "); + w2_ui_bar_graph_pm(4, 13, g_w2_ui_width - 13, (double)left / 255); + mvaddstr(5, 0, "right drive: "); + w2_ui_bar_graph_pm(5, 13, g_w2_ui_width - 13, (double)right / 255); + + mvaddstr(7, 0, + " controls:\n" + "\n" + " <q> <w> <e> forward\n" + " <a> <s> <d> backward\n" + "left both right\n" + "\n" + "<space> send dirc mode command"); +} + +void w2_ui_dirc(bool first) { + if (first) w2_ui_dirc_init(); + int ch = 0; + unsigned int lb = 0; + unsigned int lf = 0; + unsigned int rb = 0; + unsigned int rf = 0; + while ((ch = getch()) != -1) { + if (ch == 'e' || ch == 'w') lf++; + if (ch == 'd' || ch == 's') lb++; + if (ch == 'q' || ch == 'w') rf++; + if (ch == 'a' || ch == 's') rb++; + if (ch == ' ') w2_send_mode(W2_M_DIRC); + } + + int drive_l = w2_dirc_motor_l(lf, lb); + int drive_r = w2_dirc_motor_r(rf, rb); + + drive_l += drive_r * W2_DIRC_STP; + drive_r += drive_l * W2_DIRC_STP; + + w2_send_dirc(drive_l, drive_r); + w2_ui_dirc_paint(drive_l, drive_r); +} |