Diff: game.cpp

Revision:

45:9c520ebc38e0

Parent:

39:e61dd30febfc

Child:

46:faad265d8ce9

Child:

48:519deb1d4dff

--- a/game.cpp	Tue Apr 01 02:16:35 2014 +0000
+++ b/game.cpp	Thu Apr 03 02:44:36 2014 +0000
@@ -145,7 +145,7 @@
 
 void gamePlayer::runSecondRow(){
     float gapCheck = -2;
-    if(row != 1){
+    if(row != 1 || row != 2){
         DBGPRINT("Not in second row for runSecondRow",1);
         return;
     }
@@ -264,7 +264,7 @@
                 }
                 desiredHeading = 0;
                 break;
-            } /*else {      //need to reverse angles
+            } else {      
                 //correct our direction
                 if(!(waveGaps[row]==i-1) && i==5){
                     //we have enough info to correct direction
@@ -274,7 +274,7 @@
                     desiredHeading = (atan2(8.0-wallDist,16.0)*180.0/3.14159)/2;
                     DBGPRINT("Hd: %f, des: %f\r\n",heading,desiredHeading);
                     DBGPRINT("Turning %f degrees to fix and %f to %f\r\n",-(-heading+desiredHeading),direction,direction-heading);
-                    bot.smoothMove((8000.0/360.0)*((-heading+desiredHeading)),1,40);
+                    bot.smoothMove((8000.0/360.0)*(-(-heading+desiredHeading)),1,40);
                 } else if(!(waveGaps[row]==i-1)){
                     //we have enough info to correct direction
                     // for the move to the next stop
@@ -283,14 +283,14 @@
                     desiredHeading = (atan2(8.0-wallDist,16.0)*180.0/3.14159)/2;
                     DBGPRINT("Hd: %f, des: %f\r\n",heading,desiredHeading);
                     DBGPRINT("Turning %f degrees to fix and %f to %f\r\n",-(-heading+desiredHeading),direction,direction-heading);
-                    bot.smoothMove((8000.0/360.0)*((-heading+desiredHeading)),1,40);
+                    bot.smoothMove((8000.0/360.0)*(-(-heading+desiredHeading)),1,40);
                 } else {
                     // not enough info 
                     //  this should never happen because we are greedy and turn the first time we see a gap
                     DBGPRINT("Re-Aligning %f degrees or %f\r\n",desiredHeading,(8000.0/360.0)*(desiredHeading));
-                    bot.smoothMove((8000.0/360.0)*(-desiredHeading),1,40);
+                    bot.smoothMove((8000.0/360.0)*(desiredHeading),1,40);
                     desiredHeading = 0;
-                }*/
+                }
                 oldWallDist = wallDist;
             }
         }
@@ -315,7 +315,26 @@
         }
         bot.smoothMove((8000.0/360.0)*(90),1,40);
         bot.smoothMove(290*(-3),0,40);
-        row = 1;
         column = waveGaps[row];
+        row = 2;
     }
+}}
+
+void gamePlayer::approachRig(){
+    while(1){ 
+        if(rigOnFire == 1){   
+            bot.smoothMove(290*11.625-(column*16),0,40);
+            bot.smoothMove(290*(3),0,40);
+            bot.smoothMove((8000.0/360.0)*(-90),1,40);
+        } else if(rigOnFire == 2){
+            bot.smoothMove(290*40-(column*16),0,40);
+            bot.smoothMove(290*(3),0,40);
+            bot.smoothMove((8000.0/360.0)*(-90),1,40);
+        } else if(rigOnFire == 3){
+            bot.smoothMove(290*68.375-(column*16),0,40);
+            bot.smoothMove(290*(3),0,40);
+            bot.smoothMove((8000.0/360.0)*(-90),1,40);    
+        }
+        break;
+        }
 }
\ No newline at end of file