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The Last Day ?

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This commit is contained in:
sicarius 2007-02-22 20:59:02 +00:00
parent dc8b1cde31
commit f544ab7822
14 changed files with 240 additions and 157 deletions
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52
source/Concept/Framework/modules/executor/navigator.c
View file

@ -85,16 +85,37 @@ void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed,
}
}
CalculateDirection();
}
void Navigator::RotateTo(float newAngle, float rotationSpeed) {
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
this->rotationSpeed = min(rotationSpeed, 255.0f);
this->targetAngle = newAngle * PI / 180.0f;
if(targetAngle - locationeer->GetOrientation() > PI)
{
if(rotationSpeed > 0)
{
rotationSpeed = -rotationSpeed;
}
}
else
{
if(rotationSpeed < 0)
{
rotationSpeed = -rotationSpeed;
}
}
CalculateDirection();
}
//-----------------------------------------------------------------------------
void Navigator::Update()
{
bool Navigator::TargetReached() {
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
bool targetReached = false;
bool targetAngleReached = false;
if(HasTarget() && distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f)
{
@ -106,6 +127,14 @@ void Navigator::Update()
targetReached = true;
}
return targetReached;
}
bool Navigator::AngleReached() {
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
bool targetAngleReached = false;
if(targetAngle != EMPTY_FLOAT && fabs(targetAngle - locationeer->GetOrientation()) < 0.1f)
{
targetAngle = EMPTY_FLOAT;
@ -113,15 +142,20 @@ void Navigator::Update()
targetAngleReached = true;
}
if(targetReached && targetAngleReached)
return targetAngleReached;
}
//-----------------------------------------------------------------------------
void Navigator::Update()
{
if(TargetReached() && AngleReached())
{
Stop();
}
else if(targetReached || targetAngleReached)
/*else if(HasTarget() && !TargetReached())
{
CalculateDirection();
}
}*/
if(!(correctionCountdown--))
{

4
source/Concept/Framework/modules/executor/navigator.h
View file

@ -49,6 +49,7 @@ public:
void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed);
void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed);
void RotateTo(float newAngle,float roationSpeed);
void Rotate(float rotationSpeed);
@ -65,6 +66,9 @@ public:
{
return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
}
bool TargetReached();
bool AngleReached();
};
#endif