FireControl.cpp

#include <iostream>
#include "FireControl.h"
#include "Target.h"
#include "Config.h"
#include <fstream>

using namespace std;

FireControl::FireControl()
{
	m_range = new LookupTable(1100, Config::GetSetting("Shooter_MAX_SPEED", 2500));
	m_alt_range = new LookupTable(Config::GetSetting("Shooter_ALT_SPEED", 100), Config::GetSetting("Shooter_ALT_SPEED", 100));
}

void FireControl::ParseIntoLookup(LookupTable * lt, std::string fname)
{
	// Input stream
	ifstream in;
		
	// Open the file
	in.open(fname.c_str(), std::ios_base::in);

	lt->Clear();
	if (!in.is_open()) {
		cout << "UH OH! CAN'T LOAD RANGE FILE" << endl;
	}
	float x, y;
		
	while (in >> x >> y) {
		cout << "At " << x << " feet, rpm = " << y << endl;
		lt->AddEntry(x,y);
	}
	
	in.close();
		

}

void FireControl::LoadRangeDataFromFile(std::string fname) {
	ParseIntoLookup(m_range, fname);
}

void FireControl::LoadAltRangeDataFromFile(std::string fname)
{
	ParseIntoLookup(m_alt_range, fname);
}

void FireControl::Calculate(Target *t,bool &position,int &top_rpm,int &bot_rpm)
{
	double distance = t->getDistance();
	
    double up_threshold = (Config::GetSetting("Shooter_Switch_Up",20));
    double down_threshold = (Config::GetSetting("Shooter_Switch_Down",15));
	//position == true : 80 degree === DOWN
	//position == false : 45 degrees === UP
	if(distance > up_threshold)
	{
		position = true;
	}
	else if(distance < down_threshold)
	{
		position = false;
	}
	
	double speed = m_range->Lookup(distance);
	cout << "Calculated range for distance " << distance << " to be " << speed << endl;
	double shooterspin = Config::GetSetting("Shooter_Spin",0);
	bot_rpm = (int) speed;
	top_rpm = (int) (bot_rpm - shooterspin);

}