diff options
Diffstat (limited to 'source/Concept/Framework/main.c')
| -rwxr-xr-x | source/Concept/Framework/main.c | 58 |
1 files changed, 26 insertions, 32 deletions
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index 8a7d90f..b0fc96b 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -145,27 +145,29 @@ int main() Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ Position_Tracker* ourPosition_Tracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
float rotation = 0;
- Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
- Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+ //Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ //Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
//Run
while(true)
{
- /*ourDisplay->Print(i++,1,1);
- ourDisplay->Print(mouse_left->GetXMovement(),1,2);
- ourDisplay->Print(" ");
- ourDisplay->Print(mouse_left->GetYMovement(),10,2);
- ourDisplay->Print(" ");
- ourDisplay->Print(mouse_right->GetXMovement(),1,3);
- ourDisplay->Print(" ");
- ourDisplay->Print(mouse_right->GetYMovement(),10,3);
- ourDisplay->Print(" ");
- ourDisplay->Print(" ",1,4); // clear
+ ourDisplay->Print(i++,1,1);
+
+ if(!(i % 200))
+ {
+ ourDisplay->Clear();
+ ourDisplay->PrintFloat(ourPosition_Tracker->GetPositionX(),1,2);
+ ourDisplay->PrintFloat(ourPosition_Tracker->GetPositionY(),1,3);
+ ourDisplay->PrintFloat(ourPosition_Tracker->GetOrientation() * 180.0f / PI,1,4);
+ }
+
- distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
+ /*distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
value = distanceSensor->GetDistance();
ourDisplay->Print(value, 1, 4);
ourDisplay->Print(";");
@@ -180,47 +182,41 @@ int main() distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
value = distanceSensor->GetDistance();
ourDisplay->Print(value);
- ourDisplay->Print(";");
-
-
- msleep(500);*/
-
+ ourDisplay->Print(";"); */
+
uint8 someInput = ourKeyboard->GetInput();
- //ourDisplay->Clear();
- ourDisplay->Print(i++,1,1);
//ourDisplay->Print("Ready to accept...", 1, 2);
- ourDisplay->Print(someInput, 1, 3);
- ourDisplay->PrintFloat(rotation, 1, 4);
switch(someInput)
{
case 0:
ourNavigator->Stop();
+ break;
case 1:
- ourNavigator->Drive(225, rotation, 200, rotation);
+ ourNavigator->Drive(225, rotation, 100, rotation);
break;
case 2:
- ourNavigator->Drive(180, rotation, 200, rotation);
+ ourNavigator->Drive(180, rotation, 100, rotation);
break;
case 3:
- ourNavigator->Drive(135, rotation, 200, rotation);
+ ourNavigator->Drive(135, rotation, 100, rotation);
break;
case 4:
- ourNavigator->Drive(270, rotation, 200, rotation);
+ ourNavigator->Drive(270, rotation, 100, rotation);
break;
case 5:
ourNavigator->Drive(0, rotation, 0, rotation);
break;
case 6:
- ourNavigator->Drive(90, rotation, 200, rotation);
+ ourNavigator->Drive(90, rotation, 100, rotation);
break;
case 7:
- ourNavigator->Drive(315, rotation, 200, rotation);
+ ourNavigator->Drive(315, rotation, 100, rotation);
break;
case 8:
- ourNavigator->Drive(0, rotation, 200, rotation);
+ ourNavigator->Drive(0, rotation, 100, rotation);
break;
case 9:
- ourNavigator->Drive(45, rotation, 200, rotation);
+ ourNavigator->Drive(45, rotation, 100, rotation);
break;
case 10:
rotation += 10;
@@ -230,8 +226,6 @@ int main() break;
}
- msleep(50);
-
/*
//ourDisplay->Clear();
ourDisplay->Print(i++,1,1);
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