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#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);
}
#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)
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_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 == 'a' || ch == 's') lb++;
if (ch == 'q' || ch == 'w') lf++;
if (ch == 'd' || ch == 's') rb++;
if (ch == 'e' || ch == 'w') rf++;
}
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);
w2_send_dirc(drive_l, drive_r);
}
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