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- Log -----------------------------------------------------------------
commit 73d098f1abe08b3ce46993d9500d7d38c0bc407b
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Tue Mar 29 18:57:34 2011 +0200
[krobot_viewer] Only use angles between -pi and pi.
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 4acbc91..fa853cd 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -38,6 +38,16 @@ let utf8 code =
end else
invalid_arg "utf8"
+let math_mod_float a b =
+ let b2 = b /. 2. in
+ let modf = mod_float a b in
+ if modf > b2 then
+ modf -. b
+ else if modf < -. b2 then
+ modf +. b
+ else
+ modf;;
+
(* +-----------------------------------------------------------------+
| LCD |
+-----------------------------------------------------------------+ *)
@@ -453,7 +463,7 @@ module Board = struct
match board.points with
| (x, y) :: rest ->
(* Turn the robot. *)
- let alpha = atan2 (y -. board.state.y) (x -. board.state.x) -. board.state.theta in
+ let alpha = math_mod_float (atan2 (y -. board.state.y) (x -. board.state.x) -. board.state.theta) (2. *. pi) in
lwt () = Krobot_message.send board.bus (Unix.gettimeofday (),
Motor_turn(alpha,
board.ui#rotation_speed#adjustment#value,
@@ -485,7 +495,7 @@ module Board = struct
let board ={
bus;
ui;
- state = { x = 0.2; y = 1.9; theta = 2. *. atan (-1.) };
+ state = { x = 0.2; y = 1.9; theta = -0.5 *. pi };
points = [];
event = E.never;
} in
@@ -496,7 +506,8 @@ module Board = struct
(fun (ts, frame) ->
match frame with
| Odometry(x, y, theta) ->
- let state = { x; y; theta } in
+ let angle = math_mod_float (theta) (2. *. pi) in
+ let state = { x; y; theta = angle; } in
if state <> board.state then begin
board.state <- state;
queue_draw board
hooks/post-receive
--
krobot
|
