2 * DOUBLE BLACK DIAMOND DOUBLE BLACK DIAMOND
5 * ///\\\ ///\\\ ///\\\ ///\\\
6 * \\\/// \\\/// \\\/// \\\///
9 * EXPERTS ONLY!! EXPERTS ONLY!!
11 * This class implements the mapping functions needed to lay out the physical
12 * cubes and the output ports on the panda board. It should only be modified
13 * when physical changes or tuning is being done to the structure.
15 class SCMapping implements GLucose.Mapping {
16 public Cube[] buildCubeArray() {
17 // TODO(mcslee): find a cleaner way of representing this data, probably
18 // serialized in some more neutral form. also figure out what's going on
19 // with the indexing starting at 1 and some indices missing.
20 Cube[] cubes = new Cube[79];
24 cubes[cubeIndex++] = new Cube(0, 0, 0, 0, 0, 0);
25 cubes[cubeIndex++] = new Cube(5, Cube.EDGE_HEIGHT, -10, 0, 20, 0);
26 cubes[cubeIndex++] = new Cube(0, 2*Cube.EDGE_HEIGHT, -6, 0, 0, 0);
27 cubes[cubeIndex++] = new Cube(-5, 3*Cube.EDGE_HEIGHT, -2, 0, -20, 0);
29 cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, 0, 0, 0, 0, 0);
30 cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, Cube.EDGE_HEIGHT, 5, 0, 10, 0);
31 cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, 2*Cube.EDGE_HEIGHT, 2, 0, 20, 0);
32 cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, 3*Cube.EDGE_HEIGHT, 0, 0, 30, 0);
34 //Back Cubes behind DJ platform (in order of increasing x)
35 cubes[cubeIndex++] = new Cube(50, 0, BASS_DEPTH, 0, 0, 0);
36 cubes[cubeIndex++] = new Cube(52, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
37 cubes[cubeIndex++] = new Cube(48, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
38 cubes[cubeIndex++] = new Cube(45, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
39 cubes[cubeIndex++] = new Cube(48, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
41 cubes[cubeIndex++] = new Cube(79, 0, BASS_DEPTH, 0, 0, 0);
42 cubes[cubeIndex++] = new Cube(81, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
43 cubes[cubeIndex++] = new Cube(83, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
44 cubes[cubeIndex++] = new Cube(81, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
45 cubes[cubeIndex++] = new Cube(79, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
47 cubes[cubeIndex++] = new Cube(107, 0, BASS_DEPTH, 0, 0, 0);
48 cubes[cubeIndex++] = new Cube(111, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
49 cubes[cubeIndex++] = new Cube(113, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
50 cubes[cubeIndex++] = new Cube(110, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
51 //cubes[cubeIndex++] = new Cube(115, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
53 cubes[cubeIndex++] = new Cube(133, 0, BASS_DEPTH, 0, 0, 0);
54 cubes[cubeIndex++] = new Cube(131, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
55 cubes[cubeIndex++] = new Cube(133, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
56 cubes[cubeIndex++] = new Cube(135, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
57 //cubes[cubeIndex++] = new Cube(137, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
59 cubes[cubeIndex++] = new Cube(165, 0, BASS_DEPTH, 0, 0, 0);
60 cubes[cubeIndex++] = new Cube(164, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
61 cubes[cubeIndex++] = new Cube(167, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
62 cubes[cubeIndex++] = new Cube(163, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
63 cubes[cubeIndex++] = new Cube(168, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
66 cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + 0, 10, 0, 0, 0);
67 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + Cube.EDGE_HEIGHT, 0, 0, 20, 0);
69 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + Cube.EDGE_HEIGHT + 3, BASS_HEIGHT, 10, 0, 0, 0);
70 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + Cube.EDGE_HEIGHT + 2, BASS_HEIGHT+Cube.EDGE_HEIGHT, 0, 0, 20, 0);
73 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 2*Cube.EDGE_HEIGHT + 5, BASS_HEIGHT + 0, 10, 0, 0, 0);
74 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 2*Cube.EDGE_HEIGHT + 6, BASS_HEIGHT + Cube.EDGE_HEIGHT, 10, 0, 10, 0);
76 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 3*Cube.EDGE_HEIGHT + 9, BASS_HEIGHT + 0, 10, 0, 0, 0);
77 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 3*Cube.EDGE_HEIGHT + 8, BASS_HEIGHT + Cube.EDGE_HEIGHT, 10, 0, 0, 0);
79 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + 0, 10, 0, 0, 0);
80 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 14, BASS_HEIGHT + Cube.EDGE_HEIGHT, 10, 0, 0, 0);
84 cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + 0, Cube.EDGE_HEIGHT + 2, 0, 0, 0);
85 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 4, 0, 20, 0);
87 cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + 0, 2*Cube.EDGE_HEIGHT + 4, 0, 0, 0);
88 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 6, 0, 20, 0);
92 cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + 0, Cube.EDGE_HEIGHT + 2, 0, 0, 0);
93 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 4, 0, 20, 0);
95 cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + 0, 2*Cube.EDGE_HEIGHT + 4, 0, 0, 0);
96 cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 6, 0, 20, 0);
99 cubes[cubeIndex++] = new Cube(200, 0, 10, 0, 0, 0);
100 cubes[cubeIndex++] = new Cube(205, Cube.EDGE_HEIGHT, 0, 0, 20, 0);
101 cubes[cubeIndex++] = new Cube(200, 2*Cube.EDGE_HEIGHT, 4, 0, 0, 0);
102 cubes[cubeIndex++] = new Cube(195, 3*Cube.EDGE_HEIGHT, 8, 0, -20, 0);
103 cubes[cubeIndex++] = new Cube(200, 4*Cube.EDGE_HEIGHT, 3, 0, 0, 0);
105 cubes[cubeIndex++] = new Cube(200, 0, 10, 0, 0, 0);
106 cubes[cubeIndex++] = new Cube(205, Cube.EDGE_HEIGHT, 0, 0, 20, 0);
107 cubes[cubeIndex++] = new Cube(200, 2*Cube.EDGE_HEIGHT, 4, 0, 0, 0);
108 cubes[cubeIndex++] = new Cube(195, 3*Cube.EDGE_HEIGHT, 8, 0, -20, 0);
110 cubes[cubeIndex++] = new Cube(10, 0 , Cube.EDGE_HEIGHT + 10, 0, 40, 0);
111 cubes[cubeIndex++] = new Cube(3, Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 8, 0, 20, 0);
112 cubes[cubeIndex++] = new Cube(0, 2*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 10, 0, 40, 0);
113 cubes[cubeIndex++] = new Cube(0, 3*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 10, 0, 60, 0);
114 cubes[cubeIndex++] = new Cube(0, 4*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 10, 0, 40, 0);
116 cubes[cubeIndex++] = new Cube(20, 0 , 2*Cube.EDGE_HEIGHT + 18, 0, 40, 0);
117 cubes[cubeIndex++] = new Cube(30, Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 20, 0);
118 cubes[cubeIndex++] = new Cube(25, 2*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 40, 0);
119 cubes[cubeIndex++] = new Cube(30, 3*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 60, 0);
120 cubes[cubeIndex++] = new Cube(32, 4*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 40, 0);
122 cubes[cubeIndex++] = new Cube(210, 0 , Cube.EDGE_HEIGHT + 15, 0, 40, 0);
123 cubes[cubeIndex++] = new Cube(215, Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 20, 0);
124 cubes[cubeIndex++] = new Cube(218, 2*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 40, 0);
125 cubes[cubeIndex++] = new Cube(213, 3*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 60, 0);
126 cubes[cubeIndex++] = new Cube(210, 4*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 40, 0);
128 cubes[cubeIndex++] = new Cube(210, 0 , 2*Cube.EDGE_HEIGHT + 25, 0, 40, 0);
129 cubes[cubeIndex++] = new Cube(215, Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 20, 0);
130 cubes[cubeIndex++] = new Cube(212, 2*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 40, 0);
131 cubes[cubeIndex++] = new Cube(215, 3*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 60, 0);
132 cubes[cubeIndex++] = new Cube(210, 4*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 40, 0);
141 cubes[1] = new Cube(17.25, 0, 0, 0, 0, 80);
142 cubes[2] = new Cube(50.625, -1.5, 0, 0, 0, 55);
143 cubes[3] = new Cube(70.75, 12.375, 0, 0, 0, 55);
144 cubes[4] = new Cube(49.75, 24.375, 0, 0, 0, 48);//dnw
145 cubes[5] = new Cube(14.25, 32, 0, 0, 0, 80);
146 cubes[6] = new Cube(50.375, 44.375, 0, 0, 0, 0);//dnw
147 cubes[7] = new Cube(67.5, 64.25, 0, 27, 0, 0);//dnw
148 cubes[8] = new Cube(44, 136, 0, 0, 0, 0);
149 cubes[9] = new Cube(39, 162, 0, 0, 0, 0);
150 cubes[10] = new Cube(58, 182, -4, 12, 0, 0);
151 cubes[11] = new Cube(28, 182, -4, 12, 0, 0);
152 cubes[12] = new Cube(0, 182, -4, 12, 0, 0);
153 cubes[13] = new Cube(18.75, 162, 0, 0, 0, 0);
154 cubes[14] = new Cube(13.5, 136, 0, 0, 0, 0);
155 cubes[15] = new Cube(6.5, -8.25, 20, 0, 0, 25);
156 cubes[16] = new Cube(42, 15, 20, 0, 0, 4);
157 cubes[17] = new Cube(67, 24, 20, 0, 0, 25);
158 cubes[18] = new Cube(56, 41, 20, 0, 0, 30);
159 cubes[19] = new Cube(24, 2, 20, 0, 0, 25);
160 cubes[20] = new Cube(26, 26, 20, 0, 0, 70);
161 cubes[21] = new Cube(3.5, 10.5, 20, 0, 0, 35);
162 cubes[22] = new Cube(63, 133, 20, 0, 0, 80);
163 cubes[23] = new Cube(56, 159, 20, 0, 0, 65);
164 cubes[24] = new Cube(68, 194, 20, 0, -45, 0);
165 cubes[25] = new Cube(34, 194, 20, 20, 0, 35);
166 cubes[26] = new Cube(10, 194, 20, 0, -45, 0); // wired a bit funky
167 cubes[27] = new Cube(28, 162, 20, 0, 0, 65);
168 cubes[28] = new Cube(15.5, 134, 20, 0, 0, 20);
169 cubes[29] = new Cube(13, 29, 40, 0, 0, 0);
170 cubes[30] = new Cube(55, 15, 40, 0, 0, 50);
171 cubes[31] = new Cube(78, 9, 40, 0, 0, 60);
172 cubes[32] = new Cube(80, 39, 40, 0, 0, 80);
173 cubes[33] = new Cube(34, 134, 40, 0, 0, 50);
174 cubes[34] = new Cube(42, 177, 40, 0, 0, 0);
175 cubes[35] = new Cube(41, 202, 40, 20, 0, 80);
176 cubes[36] = new Cube(21, 178, 40, 0, 0, 35);
177 cubes[37] = new Cube(18, 32, 60, 0, 0, 65);
178 cubes[38] = new Cube(44, 20, 60, 0, 0, 20); //front power cube
179 cubes[39] = new Cube(39, 149, 60, 0, 0, 15);
180 cubes[40] = new Cube(60, 186, 60, 0, 0, 45);
181 cubes[41] = new Cube(48, 213, 56, 20, 0, 25);
182 cubes[42] = new Cube(22, 222, 60, 10, 10, 15);
183 cubes[43] = new Cube(28, 198, 60, 20, 0, 20);
184 cubes[44] = new Cube(12, 178, 60, 0, 0, 50);
185 cubes[45] = new Cube(18, 156, 60, 0, 0, 40);
186 cubes[46] = new Cube(30, 135, 60, 0, 0, 45);
187 cubes[47] = new Cube(10, 42, 80, 0, 0, 17);
188 cubes[48] = new Cube(34, 23, 80, 0, 0, 45);
189 cubes[49] = new Cube(77, 28, 80, 0, 0, 45);
190 cubes[50] = new Cube(53, 22, 80, 0, 0, 45);
191 cubes[51] = new Cube(48, 175, 80, 0, 0, 45);
192 cubes[52] = new Cube(66, 172, 80, 0, 0, 355);// _,195,_ originally
193 cubes[53] = new Cube(33, 202, 80, 25, 0, 85);
194 cubes[54] = new Cube(32, 176, 100, 0, 0, 20);
195 cubes[55] = new Cube(5.75, 69.5, 0, 0, 0, 80);
196 cubes[56] = new Cube(1, 53, 0, 40, 70, 70);
197 cubes[57] = new Cube(-15, 24, 0, 15, 0, 0);
198 //cubes[58] what the heck happened here? never noticed before 4/8/2013
199 cubes[59] = new Cube(40, 46, 100, 0, 0, 355); // copies from 75
200 cubes[60] = new Cube(40, 164, 120, 0, 0, 12.5);
201 cubes[61] = new Cube(32, 148, 100, 0, 0, 3);
202 cubes[62] = new Cube(30, 132, 90, 10, 350, 5);
203 cubes[63] = new Cube(22, 112, 100, 0, 20, 0);
204 cubes[64] = new Cube(35, 70, 95, 15, 345, 20);
205 cubes[65] = new Cube(38, 112, 98, 25, 0, 0);
206 cubes[66] = new Cube(70, 164, 100, 0, 0, 22);
207 cubes[68] = new Cube(29, 94, 105, 15, 20, 10);
208 cubes[69] = new Cube(30, 77, 100, 15, 345, 20);
209 cubes[70] = new Cube(38, 96, 95, 30, 0, 355);
210 //cubes[71] = new Cube(38,96,95,30,0,355); //old power cube
211 cubes[72] = new Cube(44, 20, 100, 0, 0, 345);
212 cubes[73] = new Cube(28, 24, 100, 0, 0, 13);
213 cubes[74] = new Cube(8, 38, 100, 10, 0, 0);
214 cubes[75] = new Cube(20, 58, 100, 0, 0, 355);
215 cubes[76] = new Cube(22, 32, 120, 15, 327, 345);
216 cubes[77] = new Cube(50, 132, 80, 0, 0, 0);
217 cubes[78] = new Cube(20, 140, 80, 0, 0, 0);
221 public int[][] buildFrontChannelList() {
230 1, 57, 56, 55, 0 // Pandaboard A, structural channel 1
234 31, 32, 17, 3, 0 // Pandaboard B, structural channel 2, normally 30, 31, 32, 17, 3 (disconnected 30)
238 20, 21, 15, 19, 0 // Pandaboard C, structural channel 3
242 69, 75, 74, 76, 73 // Pandaboard D, structural channel 4, normally 64 first
246 16, 2, 5, 0, 0 // Pandaboard E, structural channel 5
250 48, 47, 37, 29, 0 // Pandaboard F, structural channel 6 (is there a 5th?)
254 68, 63, 62, 78, 45 // Pandaboard G, structural channel 7, left top front side
258 18, 6, 7, 0, 0 // Pandaboard H, structural channel 8
263 public int[][] buildRearChannelList() {
272 22, 8, 14, 28, 0 // Pandaboard A, structural channel 9
276 36, 34, 40, 52, 66 // Pandaboard B, structural channel 10
280 65, 61, 60, 54, 51 // Pandaboard C, structural channel 11
284 35, 25, 11, 10, 24 // Pandaboard D, structural channel 12
288 23, 9, 13, 27, 12 // Pandaboard E, structural channel 13, missing taillight?
292 64, 59, 72, 49, 50 // Pandaboard F, structural channel 14, right top backside (second cube is missing from sim)
296 77, 39, 46, 33, 26 // Pandaboard G, structural channel 15
300 44, 53, 42, 43, 41 // Pandaboard H, structural channel 16, last cube busted?
305 public int[][] buildFlippedRGBList() {
307 return new int[][] {};
310 // syntax is {cube #, strip #, strip #, . . . }