1 files changed, 12 insertions, 9 deletions

diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c
index a64ab60..f6d67ac 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.c
@@ -10,6 +10,10 @@ void Position_Tracker::Update()
 	// Generate a vector for the left mouse

 	int8 leftX = mouseLeft->GetXMovement();

 	int8 leftY = mouseLeft->GetYMovement();

+	// Generate a vector for the right mouse

+	int8 rightX = mouseRight->GetXMovement();

+	int8 rightY = mouseRight->GetYMovement();

+

 	float distanceLeft = sqrt(leftX * leftX + leftY * leftY);

 	float angleLeft = easyAngle(atan2(leftY, leftX) + (225.0f * PI / 180.0f));

 

@@ -23,9 +27,6 @@ void Position_Tracker::Update()
 		movementLeftY = 0;

 	}

 

-	// Generate a vector for the right mouse

-	int8 rightX = mouseRight->GetXMovement();

-	int8 rightY = mouseRight->GetYMovement();

 	float distanceRight = sqrt(rightX * rightX + rightY * rightY);

 	float angleRight = easyAngle(atan2(rightY, rightX) - (45.0f * PI / 180.0f));

 

@@ -50,13 +51,9 @@ void Position_Tracker::Update()
 	float robotMovementY = movementDifferenceY / 2.0f;

 	robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));

 	robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (mouseLeft->GetPositionX() * sin(orientationDiff));

-	//float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);

-

-	float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX - sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;

-	float absoluteDiffY	= sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY + cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;

 

-	//float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementX);

-	//float absoluteDiffY	= sin(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementY);

+	float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX + sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;

+	float absoluteDiffY	= sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY - cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;

 

 	if(!robotMovementX && !robotMovementY)

 	{

@@ -74,4 +71,10 @@ void Position_Tracker::Update()
 	this->orientation += orientationDiff;

 

 	this->orientation = easyAngle(this->orientation);

+

+	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("            ", 5, 1);

+	/*(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Clear();

+	(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(this->orientation * 180.0f / PI, 5, 1);

+	(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(this->positionX, 1, 2);

+	(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(this->positionY, 1, 3);*/

 }