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SoccerTeam, Stuff from Magdeburg

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This commit is contained in:
sicarius 2007-02-26 21:25:01 +00:00
parent 343397ecf6
commit f61eb90087
17 changed files with 666 additions and 122 deletions
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6
source/Concept/Framework/modules/executor/navigator.c
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@ -59,7 +59,7 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float
//-----------------------------------------------------------------------------
void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)
{
if(newX < 0 || newY < 0) return;
if(newX == EMPTY_FLOAT || newY == EMPTY_FLOAT) return;
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
@ -125,7 +125,7 @@ bool Navigator::TargetReached()
bool targetReached = false;
if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f))
if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < DISTANCE_TOLERANCE))
{
targetReached = true;
}
@ -230,7 +230,7 @@ void Navigator::CalculateEngines()
vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);
(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,2);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);

15
source/Concept/Framework/modules/executor/navigator.h
View file

@ -67,6 +67,21 @@ public:
return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
}
float GetTargetX()
{
return targetX;
}
float GetTargetY()
{
return targetY;
}
float GetDirection()
{
return direction;
}
bool HasTargetAngle()
{
return (targetAngle != EMPTY_FLOAT);