From b12d6b2ecee0be03122a4bdba8ebbc91112fae3f Mon Sep 17 00:00:00 2001 From: lonkaars Date: Thu, 2 Jun 2022 12:12:47 +0200 Subject: dirc working --- client/ui_dirc.c | 78 +++++++++++++++++++++++++++++++++++++++++++------------- 1 file changed, 60 insertions(+), 18 deletions(-) (limited to 'client/ui_dirc.c') diff --git a/client/ui_dirc.c b/client/ui_dirc.c index 118a3ea..7720a4c 100644 --- a/client/ui_dirc.c +++ b/client/ui_dirc.c @@ -1,21 +1,18 @@ +#include "../shared/protocol.h" #include "../shared/util.h" +#include "commands.h" #include "ui.h" -void w2_ui_bar_graph(unsigned int percent) { - unsigned int width = g_w2_ui_width - 7; - char bar[width]; - for (unsigned int i = 0; i < width - 2; i++) { - bar[i + 1] = i > (width - 2) * percent / 100 ? ' ' : '*'; - } - bar[0] = '|'; - bar[width - 1] = '|'; - mvaddnstr(4, 7, bar, width); -} - +/** decay modifier */ #define W2_DIRC_MOD ((double)0.95) -#define W2_DIRC_ADD ((double)13.0) -#define W2_DIRC_PAD ((double)1.10) -#define W2_DIRC_SPL ((unsigned int)20) +/** 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; @@ -45,7 +42,50 @@ int w2_avg(int *samples, unsigned int sample_count) { W2_DIRC_MOTOR_DRIVER(l); W2_DIRC_MOTOR_DRIVER(r); -void w2_ui_dirc() { +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 ? ' ' : (i - hw) < (hw * value) ? '*' : ' '; + } + + mvaddnstr(y, x, temp, width); +} + +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 - 14, (double)left / 255); + mvaddstr(5, 0, "right drive: "); + w2_ui_bar_graph_pm(5, 13, g_w2_ui_width - 14, (double)right / 255); + + mvaddstr(7, 0, + " controls:\n" + "\n" + " forward\n" + " backward\n" + "left both right\n"); +} + +void w2_ui_dirc(bool first) { + if (first) w2_ui_dirc_init(); int ch = 0; unsigned int lb = 0; unsigned int lf = 0; @@ -61,7 +101,9 @@ void w2_ui_dirc() { int drive_l = w2_dirc_motor_l(lf, lb); int drive_r = w2_dirc_motor_r(rf, rb); - char temp[32] = {0}; - sprintf(temp, "l: %04i, r: %04i", drive_l, drive_r); - mvaddstr(4, 0, temp); + 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); } -- cgit v1.2.3