From 22433e52a7b0f2e5c548edb915ea11a38a8077ad Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Tue, 20 Feb 2007 21:01:02 +0000
Subject: +++ Codework, Navigator&Positiontracker done (buggy?)

---
 source/Concept/Framework/main.c | 58 ++++++++++++++++++-----------------------
 1 file changed, 26 insertions(+), 32 deletions(-)

(limited to 'source/Concept/Framework/main.c')

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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