*
* EXPERTS ONLY!! EXPERTS ONLY!!
*
- * This class implements the mapping functions needed to lay out the physical
+ * This file implements the mapping functions needed to lay out the physical
* cubes and the output ports on the panda board. It should only be modified
* when physical changes or tuning is being done to the structure.
*/
-class SCMapping implements GLucose.Mapping {
- public Cube[] buildCubeArray() {
- // TODO(mcslee): find a cleaner way of representing this data, probably
- // serialized in some more neutral form. also figure out what's going on
- // with the indexing starting at 1 and some indices missing.
- Cube[] cubes = new Cube[79];
-
- int cubeIndex = 1;
-
- cubes[cubeIndex++] = new Cube(0, 0, 0, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(5, Cube.EDGE_HEIGHT, -10, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(0, 2*Cube.EDGE_HEIGHT, -6, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(-5, 3*Cube.EDGE_HEIGHT, -2, 0, -20, 0);
+
+class TowerMapping {
+ public final float x, y, z;
+ public final float[][] cubePositions;
+
+ TowerMapping(float x, float y, float z, float[][] cubePositions) {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.cubePositions = cubePositions;
+ }
+}
+
+public Model buildModel() {
+ // The model is represented as an array of towers. The cubes in the tower
+ // are represenented relatively. Each tower has an x, y, z reference position,
+ // which is typically the base cube's bottom left corner.
+ //
+ // Following that is an array of floats. A 2-d array contains an x-offset
+ // and a z-offset from the reference position. Typically the first cube
+ // will just be {0, 0}.
+ //
+ // A 3-d array contains an x-offset, a z-offset, and a rotation about the
+ // y-axis.
+ //
+ // The cubes automatically increment their y-position by Cube.EDGE_HEIGHT.
+ TowerMapping[] mapping = new TowerMapping[] {
- cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, 0, 0, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, Cube.EDGE_HEIGHT, 5, 0, 10, 0);
- cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, 2*Cube.EDGE_HEIGHT, 2, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(Cube.EDGE_WIDTH + 2, 3*Cube.EDGE_HEIGHT, 0, 0, 30, 0);
+ new TowerMapping(0, 0, 0, new float[][] {
+ {0, 0},
+ {5, -10, 20},
+ {0, -6},
+ {-5, -2, -20},
+ }),
+
+ new TowerMapping(Cube.EDGE_WIDTH + 2, 0, 0, new float[][] {
+ {0, 0},
+ {0, 5, 10},
+ {0, 2, 20},
+ {0, 0, 30},
+ }),
- //Back Cubes behind DJ platform (in order of increasing x)
- cubes[cubeIndex++] = new Cube(50, 0, BASS_DEPTH, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(52, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(48, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(45, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
- cubes[cubeIndex++] = new Cube(48, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
+ // Back Cubes behind DJ platform (in order of increasing x)
+ new TowerMapping(50, 5, BASS_DEPTH, new float[][] {
+ {0, 0},
+ {2, 0, 20},
+ {-2, 10},
+ {-5, 15, -20},
+ {-2, 13},
+ }),
- cubes[cubeIndex++] = new Cube(79, 0, BASS_DEPTH, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(81, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(83, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(81, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
- cubes[cubeIndex++] = new Cube(79, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
+ new TowerMapping(79, 5, BASS_DEPTH, new float[][] {
+ {0, 0},
+ {2, 0, 20},
+ {4, 10},
+ {2, 15, -20},
+ {0, 13},
+ }),
- cubes[cubeIndex++] = new Cube(107, 0, BASS_DEPTH, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(111, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(113, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(110, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
- //cubes[cubeIndex++] = new Cube(115, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
+ new TowerMapping(107, 5, BASS_DEPTH, new float[][] {
+ {0, 0},
+ {4, 0, 20},
+ {6, 10},
+ {3, 15, -20},
+ // {8, 13},
+ }),
- cubes[cubeIndex++] = new Cube(133, 0, BASS_DEPTH, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(131, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(133, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(135, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
- //cubes[cubeIndex++] = new Cube(137, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
+ new TowerMapping(133, 5, BASS_DEPTH, new float[][] {
+ {0, 0},
+ {-2, 0, 20},
+ {0, 10},
+ {2, 15, -20},
+ // {4, 13}
+ }),
- cubes[cubeIndex++] = new Cube(165, 0, BASS_DEPTH, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(164, 5+Cube.EDGE_HEIGHT, BASS_DEPTH, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(167, 5+2*Cube.EDGE_HEIGHT, BASS_DEPTH + 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(163, 5+3*Cube.EDGE_HEIGHT, BASS_DEPTH + 15, 0, -20, 0);
- cubes[cubeIndex++] = new Cube(168, 5+4*Cube.EDGE_HEIGHT, BASS_DEPTH + 13, 0, 0, 0);
+ new TowerMapping(165, 5, BASS_DEPTH, new float[][] {
+ {0, 0},
+ {-1, 20},
+ {2, 10},
+ {-2, 15, -20},
+ {3, 13},
+ }),
- //front DJ cubes
- cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + 0, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + Cube.EDGE_HEIGHT, 0, 0, 20, 0);
+ // front DJ cubes
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT, 10, new float[][] {
+ {0, 0},
+ {0, -10, 20},
+ }),
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + Cube.EDGE_HEIGHT + 3, BASS_HEIGHT, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + Cube.EDGE_HEIGHT + 2, BASS_HEIGHT+Cube.EDGE_HEIGHT, 0, 0, 20, 0);
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2 + Cube.EDGE_HEIGHT, BASS_HEIGHT, 10, new float[][] {
+ {3, 0},
+ {2, -10, 20},
+ }),
-
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 2*Cube.EDGE_HEIGHT + 5, BASS_HEIGHT + 0, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 2*Cube.EDGE_HEIGHT + 6, BASS_HEIGHT + Cube.EDGE_HEIGHT, 10, 0, 10, 0);
-
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 3*Cube.EDGE_HEIGHT + 9, BASS_HEIGHT + 0, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 3*Cube.EDGE_HEIGHT + 8, BASS_HEIGHT + Cube.EDGE_HEIGHT, 10, 0, 0, 0);
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2 + 2*Cube.EDGE_HEIGHT + 5, BASS_HEIGHT, 10, new float[][] {
+ {0, 0},
+ {1, 0, 10},
+ }),
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + 0, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 14, BASS_HEIGHT + Cube.EDGE_HEIGHT, 10, 0, 0, 0);
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2 + 3*Cube.EDGE_HEIGHT + 9, BASS_HEIGHT, 10, new float[][] {
+ {0, 0},
+ {-1, 0},
+ }),
- // left dj cubes
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT, 10, new float[][] {
+ {0, 0},
+ {-1, 0},
+ }),
- cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + 0, Cube.EDGE_HEIGHT + 2, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 4, 0, 20, 0);
+ // left dj cubes
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT, Cube.EDGE_HEIGHT + 2, new float[][] {
+ {0, 0},
+ {0, 2, 20},
+ }),
- cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + 0, 2*Cube.EDGE_HEIGHT + 4, 0, 0, 0);
- cubes[cubeIndex++] = new Cube((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT + Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 6, 0, 20, 0);
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2, BASS_HEIGHT, 2*Cube.EDGE_HEIGHT + 4, new float[][] {
+ {0, 0},
+ {0, 2, 20},
+ }),
- // right dj cubes
+ // right dj cubes
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT, Cube.EDGE_HEIGHT + 2, new float[][] {
+ {0, 0},
+ {0, 2, 20},
+ }),
- cubes[cubeIndex++] = new Cube( (TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT + 0, Cube.EDGE_HEIGHT + 2, 0, 0, 0);
- 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);
-
- 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);
- 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);
-
- //
- cubes[cubeIndex++] = new Cube(200, 0, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(205, Cube.EDGE_HEIGHT, 0, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(200, 2*Cube.EDGE_HEIGHT, 4, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(195, 3*Cube.EDGE_HEIGHT, 8, 0, -20, 0);
- cubes[cubeIndex++] = new Cube(200, 4*Cube.EDGE_HEIGHT, 3, 0, 0, 0);
+ new TowerMapping((TRAILER_WIDTH - BASS_WIDTH)/2 + 4*Cube.EDGE_HEIGHT + 15, BASS_HEIGHT, 2*Cube.EDGE_HEIGHT + 4, new float[][] {
+ {0, 0},
+ {0, 2, 20},
+ }),
- cubes[cubeIndex++] = new Cube(200, 0, 10, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(205, Cube.EDGE_HEIGHT, 0, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(200, 2*Cube.EDGE_HEIGHT, 4, 0, 0, 0);
- cubes[cubeIndex++] = new Cube(195, 3*Cube.EDGE_HEIGHT, 8, 0, -20, 0);
-
- cubes[cubeIndex++] = new Cube(10, 0 , Cube.EDGE_HEIGHT + 10, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(3, Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 8, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(0, 2*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 10, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(0, 3*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 10, 0, 60, 0);
- cubes[cubeIndex++] = new Cube(0, 4*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 10, 0, 40, 0);
+ new TowerMapping(200, 0, 0, new float[][] {
+ {0, 10},
+ {5, 0, 20},
+ {0, 4},
+ {-5, 8, -20},
+ {0, 3},
+ }),
- cubes[cubeIndex++] = new Cube(20, 0 , 2*Cube.EDGE_HEIGHT + 18, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(30, Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(25, 2*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(30, 3*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 60, 0);
- cubes[cubeIndex++] = new Cube(32, 4*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 18, 0, 40, 0);
+ new TowerMapping(0, 0, Cube.EDGE_HEIGHT + 10, new float[][] {
+ {10, 0, 40},
+ {3, -2, 20},
+ {0, 0, 40},
+ {0, 0, 60},
+ {0, 0, 40},
+ }),
- cubes[cubeIndex++] = new Cube(210, 0 , Cube.EDGE_HEIGHT + 15, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(215, Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(218, 2*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(213, 3*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 60, 0);
- cubes[cubeIndex++] = new Cube(210, 4*Cube.EDGE_HEIGHT, Cube.EDGE_HEIGHT + 15, 0, 40, 0);
+ new TowerMapping(20, 0, 2*Cube.EDGE_HEIGHT + 18, new float[][] {
+ {0, 0, 40},
+ {10, 0, 20},
+ {5, 0, 40},
+ {10, 0, 60},
+ {12, 0, 40},
+ }),
- cubes[cubeIndex++] = new Cube(210, 0 , 2*Cube.EDGE_HEIGHT + 25, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(215, Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 20, 0);
- cubes[cubeIndex++] = new Cube(212, 2*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 40, 0);
- cubes[cubeIndex++] = new Cube(215, 3*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 60, 0);
- cubes[cubeIndex++] = new Cube(210, 4*Cube.EDGE_HEIGHT, 2*Cube.EDGE_HEIGHT + 25, 0, 40, 0);
-
- //bridge cubes
-
-
- if (true) {
- return cubes;
- }
+ new TowerMapping(210, 0, Cube.EDGE_HEIGHT + 15, new float[][] {
+ {0, 0, 40},
+ {5, 0, 20},
+ {8, 0, 40},
+ {3, 0, 60},
+ {0, 0, 40},
+ }),
- cubes[1] = new Cube(17.25, 0, 0, 0, 0, 80);
- cubes[2] = new Cube(50.625, -1.5, 0, 0, 0, 55);
- cubes[3] = new Cube(70.75, 12.375, 0, 0, 0, 55);
- cubes[4] = new Cube(49.75, 24.375, 0, 0, 0, 48);//dnw
- cubes[5] = new Cube(14.25, 32, 0, 0, 0, 80);
- cubes[6] = new Cube(50.375, 44.375, 0, 0, 0, 0);//dnw
- cubes[7] = new Cube(67.5, 64.25, 0, 27, 0, 0);//dnw
- cubes[8] = new Cube(44, 136, 0, 0, 0, 0);
- cubes[9] = new Cube(39, 162, 0, 0, 0, 0);
- cubes[10] = new Cube(58, 182, -4, 12, 0, 0);
- cubes[11] = new Cube(28, 182, -4, 12, 0, 0);
- cubes[12] = new Cube(0, 182, -4, 12, 0, 0);
- cubes[13] = new Cube(18.75, 162, 0, 0, 0, 0);
- cubes[14] = new Cube(13.5, 136, 0, 0, 0, 0);
- cubes[15] = new Cube(6.5, -8.25, 20, 0, 0, 25);
- cubes[16] = new Cube(42, 15, 20, 0, 0, 4);
- cubes[17] = new Cube(67, 24, 20, 0, 0, 25);
- cubes[18] = new Cube(56, 41, 20, 0, 0, 30);
- cubes[19] = new Cube(24, 2, 20, 0, 0, 25);
- cubes[20] = new Cube(26, 26, 20, 0, 0, 70);
- cubes[21] = new Cube(3.5, 10.5, 20, 0, 0, 35);
- cubes[22] = new Cube(63, 133, 20, 0, 0, 80);
- cubes[23] = new Cube(56, 159, 20, 0, 0, 65);
- cubes[24] = new Cube(68, 194, 20, 0, -45, 0);
- cubes[25] = new Cube(34, 194, 20, 20, 0, 35);
- cubes[26] = new Cube(10, 194, 20, 0, -45, 0); // wired a bit funky
- cubes[27] = new Cube(28, 162, 20, 0, 0, 65);
- cubes[28] = new Cube(15.5, 134, 20, 0, 0, 20);
- cubes[29] = new Cube(13, 29, 40, 0, 0, 0);
- cubes[30] = new Cube(55, 15, 40, 0, 0, 50);
- cubes[31] = new Cube(78, 9, 40, 0, 0, 60);
- cubes[32] = new Cube(80, 39, 40, 0, 0, 80);
- cubes[33] = new Cube(34, 134, 40, 0, 0, 50);
- cubes[34] = new Cube(42, 177, 40, 0, 0, 0);
- cubes[35] = new Cube(41, 202, 40, 20, 0, 80);
- cubes[36] = new Cube(21, 178, 40, 0, 0, 35);
- cubes[37] = new Cube(18, 32, 60, 0, 0, 65);
- cubes[38] = new Cube(44, 20, 60, 0, 0, 20); //front power cube
- cubes[39] = new Cube(39, 149, 60, 0, 0, 15);
- cubes[40] = new Cube(60, 186, 60, 0, 0, 45);
- cubes[41] = new Cube(48, 213, 56, 20, 0, 25);
- cubes[42] = new Cube(22, 222, 60, 10, 10, 15);
- cubes[43] = new Cube(28, 198, 60, 20, 0, 20);
- cubes[44] = new Cube(12, 178, 60, 0, 0, 50);
- cubes[45] = new Cube(18, 156, 60, 0, 0, 40);
- cubes[46] = new Cube(30, 135, 60, 0, 0, 45);
- cubes[47] = new Cube(10, 42, 80, 0, 0, 17);
- cubes[48] = new Cube(34, 23, 80, 0, 0, 45);
- cubes[49] = new Cube(77, 28, 80, 0, 0, 45);
- cubes[50] = new Cube(53, 22, 80, 0, 0, 45);
- cubes[51] = new Cube(48, 175, 80, 0, 0, 45);
- cubes[52] = new Cube(66, 172, 80, 0, 0, 355);// _,195,_ originally
- cubes[53] = new Cube(33, 202, 80, 25, 0, 85);
- cubes[54] = new Cube(32, 176, 100, 0, 0, 20);
- cubes[55] = new Cube(5.75, 69.5, 0, 0, 0, 80);
- cubes[56] = new Cube(1, 53, 0, 40, 70, 70);
- cubes[57] = new Cube(-15, 24, 0, 15, 0, 0);
- //cubes[58] what the heck happened here? never noticed before 4/8/2013
- cubes[59] = new Cube(40, 46, 100, 0, 0, 355); // copies from 75
- cubes[60] = new Cube(40, 164, 120, 0, 0, 12.5);
- cubes[61] = new Cube(32, 148, 100, 0, 0, 3);
- cubes[62] = new Cube(30, 132, 90, 10, 350, 5);
- cubes[63] = new Cube(22, 112, 100, 0, 20, 0);
- cubes[64] = new Cube(35, 70, 95, 15, 345, 20);
- cubes[65] = new Cube(38, 112, 98, 25, 0, 0);
- cubes[66] = new Cube(70, 164, 100, 0, 0, 22);
- cubes[68] = new Cube(29, 94, 105, 15, 20, 10);
- cubes[69] = new Cube(30, 77, 100, 15, 345, 20);
- cubes[70] = new Cube(38, 96, 95, 30, 0, 355);
- //cubes[71] = new Cube(38,96,95,30,0,355); //old power cube
- cubes[72] = new Cube(44, 20, 100, 0, 0, 345);
- cubes[73] = new Cube(28, 24, 100, 0, 0, 13);
- cubes[74] = new Cube(8, 38, 100, 10, 0, 0);
- cubes[75] = new Cube(20, 58, 100, 0, 0, 355);
- cubes[76] = new Cube(22, 32, 120, 15, 327, 345);
- cubes[77] = new Cube(50, 132, 80, 0, 0, 0);
- cubes[78] = new Cube(20, 140, 80, 0, 0, 0);
- return cubes;
- }
+ new TowerMapping(210, 0, 2*Cube.EDGE_HEIGHT + 25, new float[][] {
+ {0, 0, 40},
+ {5, 0, 20},
+ {2, 0, 40},
+ {5, 0, 60},
+ {0, 0, 40},
+ }),
+
+ };
- public int[][] buildFrontChannelList() {
- if (true) {
- return new int[][] {
- { 1, 0 },
- };
+ ArrayList<Tower> towerList = new ArrayList<Tower>();
+ ArrayList<Cube> tower;
+ Cube[] cubes = new Cube[79];
+ int cubeIndex = 1;
+ float x, y, z, ry;
+ for (TowerMapping tm : mapping) {
+ tower = new ArrayList<Cube>();
+ x = tm.x;
+ y = tm.y;
+ z = tm.z;
+ for (float[] cp : tm.cubePositions) {
+ ry = (cp.length >= 3) ? cp[2] : 0;
+ tower.add(cubes[cubeIndex++] = new Cube(x + cp[0], y, z + cp[1], 0, ry, 0));
+ y += Cube.EDGE_HEIGHT;
}
-
- return new int[][] {
- {
- 1, 57, 56, 55, 0 // Pandaboard A, structural channel 1
- }
- ,
- {
- 31, 32, 17, 3, 0 // Pandaboard B, structural channel 2, normally 30, 31, 32, 17, 3 (disconnected 30)
- }
- ,
- {
- 20, 21, 15, 19, 0 // Pandaboard C, structural channel 3
- }
- ,
- {
- 69, 75, 74, 76, 73 // Pandaboard D, structural channel 4, normally 64 first
- }
- ,
- {
- 16, 2, 5, 0, 0 // Pandaboard E, structural channel 5
- }
- ,
- {
- 48, 47, 37, 29, 0 // Pandaboard F, structural channel 6 (is there a 5th?)
- }
- ,
- {
- 68, 63, 62, 78, 45 // Pandaboard G, structural channel 7, left top front side
- }
- ,
- {
- 18, 6, 7, 0, 0 // Pandaboard H, structural channel 8
- }
- };
+ towerList.add(new Tower(tower));
}
+
+ return new Model(towerList, cubes);
+}
- public int[][] buildRearChannelList() {
- if (true) {
- return new int[][] {
- { 1, 0 },
- };
- }
+public PandaMapping[] buildPandaList() {
+ return new PandaMapping[] {
+ new PandaMapping(
+ "10.200.1.28", new int[][] {
+ { 1, 2, 3, 4 }, // ch1
+ { 5, 6, 7, 8 }, // ch2
+ { 9, 10, 11, 12 }, // ch3
+ { 13, 14, 15, 16 }, // ch4
+ { 17, 18, 19, 20 }, // ch5
+ { 21, 22, 23, 24 }, // ch6
+ { 25, 26, 27, 28 }, // ch7
+ { 29, 30, 31, 32 }, // ch8
+ }),
+
+ new PandaMapping(
+ "10.200.1.29", new int[][] {
+ { 33, 34, 35, 36 }, // ch9
+ { 37, 38, 39, 40 }, // ch10
+ { 41, 42, 43, 44 }, // ch11
+ { 45, 46, 47, 48 }, // ch12
+ { 49, 50, 51, 52 }, // ch13
+ { 53, 54, 55, 56 }, // ch14
+ { 57, 58, 59, 60 }, // ch15
+ { 61, 62, 63, 64 }, // ch16
+ }),
- return new int[][] {
- {
- 22, 8, 14, 28, 0 // Pandaboard A, structural channel 9
- }
- ,
- {
- 36, 34, 40, 52, 66 // Pandaboard B, structural channel 10
- }
- ,
- {
- 65, 61, 60, 54, 51 // Pandaboard C, structural channel 11
- }
- ,
- {
- 35, 25, 11, 10, 24 // Pandaboard D, structural channel 12
- }
- ,
- {
- 23, 9, 13, 27, 12 // Pandaboard E, structural channel 13, missing taillight?
- }
- ,
- {
- 64, 59, 72, 49, 50 // Pandaboard F, structural channel 14, right top backside (second cube is missing from sim)
- }
- ,
- {
- 77, 39, 46, 33, 26 // Pandaboard G, structural channel 15
- }
- ,
- {
- 44, 53, 42, 43, 41 // Pandaboard H, structural channel 16, last cube busted?
- }
- };
- }
+ };
+}
- public int[][] buildFlippedRGBList() {
- if (true) {
- return new int[][] {};
- }
-
- // syntax is {cube #, strip #, strip #, . . . }
- return new int[][] {
- {
- 22, 4, 7
- }
- ,
- {
- 50, 1, 3
- }
- ,
- {
- 7, 1, 2, 11
- }
- ,
- {
- 49, 1
- }
- ,
- {
- 39, 1
- }
- ,
- {
- 41, 1
- }
- ,
- {
- 26, 3, 5
- }
- ,
- {
- 64, 1
- }
- ,
- {
- 32, 2
- }
- ,
- {
- 20, 6, 7
- }
- ,
- {
- 19, 1, 2
+class PandaMapping {
+
+ // How many channels are on the panda board
+ public final static int CHANNELS_PER_BOARD = 8;
+
+ // How many cubes per channel xc_PB is configured for
+ public final static int CUBES_PER_CHANNEL = 4;
+
+ // How many total pixels on each channel
+ public final static int PIXELS_PER_CHANNEL = Cube.POINTS_PER_CUBE * CUBES_PER_CHANNEL;
+
+ // How many total pixels on the whole board
+ public final static int PIXELS_PER_BOARD = PIXELS_PER_CHANNEL * CHANNELS_PER_BOARD;
+
+ final String ip;
+ final int[][] channelList = new int[CHANNELS_PER_BOARD][CUBES_PER_CHANNEL];
+
+ PandaMapping(String ip, int[][] rawChannelList) {
+ this.ip = ip;
+ for (int chi = 0; chi < CHANNELS_PER_BOARD; ++chi) {
+ int[] cubes = (chi < rawChannelList.length) ? rawChannelList[chi] : new int[]{};
+ for (int cui = 0; cui < CUBES_PER_CHANNEL; ++cui) {
+ channelList[chi][cui] = (cui < cubes.length) ? cubes[cui] : 0;
}
- ,
- {
- 15, 6, 8, 9
- }
- ,
- {
- 29, 3, 10
- }
- ,
- {
- 68, 4, 9
- }
- ,
- {
- 18, 12
- }
- ,
- {
- 6, 2, 4
- }
- ,
- {
- 78, 11
- }
- ,
- {
- 56, 2
- }
- ,
- {
- 57, 3
- }
- ,
- {
- 74, 6, 7
- }
- ,
- {
- 21, 10
- }
- ,
- {
- 37, 11
- }
- ,
- {
- 61, 5
- }
- ,
- {
- 33, 12
- }
- };
+ }
}
}
+
repositories / SugarCubes.git / blobdiff