From 1ea3927d71bb16767408e31fd225f3b18a415bea Mon Sep 17 00:00:00 2001
From: cs-powell <142438185+cs-powell@users.noreply.github.com>
Date: Sun, 24 Nov 2024 15:57:19 -0500
Subject: [PATCH] final update commit (backlog 1)

---
 .../CognitiveModel/ModelFiles/Model.java      | 27 +++++++++++++------
 .../CognitiveModel/ModelFiles/Motor.java      | 12 +++++----
 Java/ProjectModels/Main.java                  | 22 ++++++++-------
 3 files changed, 39 insertions(+), 22 deletions(-)

diff --git a/Java/ProjectModels/CognitiveModel/ModelFiles/Model.java b/Java/ProjectModels/CognitiveModel/ModelFiles/Model.java
index 45fa179..4866c84 100644
--- a/Java/ProjectModels/CognitiveModel/ModelFiles/Model.java
+++ b/Java/ProjectModels/CognitiveModel/ModelFiles/Model.java
@@ -67,7 +67,7 @@ public class Model {
         return q.queueLength();
     }
     
-    public void createAction(ActionType actionType,int delay,String target) {
+    public void createAction(ActionType actionType, MotorType motorType, int delay,String target) {
         Action newAction = null;
         switch(actionType) {
             case VISION:
@@ -75,7 +75,7 @@ public class Model {
                 this.push(newAction);
                 break;
             case MOTOR:
-                newAction = new Motor(delay,target);
+                newAction = new Motor(motorType,delay,target);
                 this.push(newAction);
                 break;
 
@@ -129,25 +129,36 @@ public class Model {
         Motor tempM = (Motor) temp;
         MotorType motorType = tempM.getMotorType();
         float[] currentControls = null;
+        try {
+            currentControls = xpc.getCTRL(0);
+        } catch (IOException e) {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
         try {
             
         switch(motorType){
             case PITCHUP:
                 float[] pitchUp = {currentControls[0] + 0.01f};
-                    if(storedVision[0] > 90) {
-                            if(currentControls[0] < 0.1f) {
+                    if(storedVision[0] > 80) {
+                            if(currentControls[0] < 0.2f) {
+                                System.out.println("Pitching Up");
                                 xpc.sendCTRL(pitchUp);
                             }
                     }
-                    System.out.println("Pitching Up");
+                    
+                    break;
             case PITCHDOWN:
                 float[] pitchDown = {currentControls[0] - 0.01f};
-                    if(storedVision[0] < 50) {
-                            if(currentControls[0] > 0.1f) {
+                    if(storedVision[0] < 80) {
+                            if(currentControls[0] > -0.2f) {
+                                // System.out.println("Sending Pitch Down");
+                                System.out.println("Pitching Down");
                                 xpc.sendCTRL(pitchDown);
                             }
                     }
-                    System.out.println("Pitching Down");
+                    
+                    break;
         }
 
     } catch (IOException e) {
diff --git a/Java/ProjectModels/CognitiveModel/ModelFiles/Motor.java b/Java/ProjectModels/CognitiveModel/ModelFiles/Motor.java
index 53345f9..9a2cdaa 100644
--- a/Java/ProjectModels/CognitiveModel/ModelFiles/Motor.java
+++ b/Java/ProjectModels/CognitiveModel/ModelFiles/Motor.java
@@ -7,17 +7,19 @@ public class Motor extends Action {
     float[] control;
     MotorType motorType;
 
-    public Motor() {
+    public Motor(MotorType motorType) {
         super(ActionType.MOTOR,1000);
+        this.motorType = motorType;
     }
 
-public Motor(int delay) {
-    super(ActionType.MOTOR,delay);
-}
+// public Motor(int delay) {
+//     super(ActionType.MOTOR,delay);
+// }
 
 
-public Motor(int delay, String target) {
+public Motor(MotorType motorType,int delay, String target) {
     super(ActionType.MOTOR,delay,target);
+    this.motorType = motorType;
 }
 
 
diff --git a/Java/ProjectModels/Main.java b/Java/ProjectModels/Main.java
index 559bfd4..e9e7fb3 100644
--- a/Java/ProjectModels/Main.java
+++ b/Java/ProjectModels/Main.java
@@ -41,8 +41,8 @@ public class Main {
             // Ensure connection established.
         m = new Model(xpc);
         m.activateModel();
-        m.createAction(ActionType.VISION, 0, "sim/cockpit2/gauges/indicators/airspeed_kts_pilot");
-        m.createAction(ActionType.MOTOR, 0, null);
+        m.createAction(ActionType.VISION, null, 0, "sim/cockpit2/gauges/indicators/airspeed_kts_pilot");
+        m.createAction(ActionType.MOTOR, MotorType.PITCHUP, 0, null);
         // m.push(b);
         // m.push(d);
         m.printModelQueue();
@@ -50,17 +50,21 @@ public class Main {
             while(m.isActive() && !m.isEmpty()) {
                 float[] array = m.next();
                 if(array != null) {
-                    System.out.println(array[0]);
-                    if(array[0] > 80.0f) {
-                        m.push(d);
-                    }
+                    // System.out.println(array[0]);
+                    // if(array[0] > 80.0f) {
+                    //     m.push(d);
+                    // }
                 } else {
                     // System.out.println("no dice");
                     // System.out.println(xpc.getDREF(null)");
                 }
-
-                // m.createAction(ActionType.MOTOR, 0, null);
-                m.printModelQueue();
+                if(m.getModelQueueLength() < 5){
+                    m.createAction(ActionType.VISION, null, 0, "sim/cockpit2/gauges/indicators/airspeed_kts_pilot");
+                    m.createAction(ActionType.MOTOR, MotorType.PITCHUP, 0, null);
+                    m.createAction(ActionType.MOTOR, MotorType.PITCHDOWN, 0, null);
+                }
+                
+                // m.printModelQueue();
             }
         }
         catch (SocketException ex)