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[Krobot-commits] [SCM] krobot branch, master, updated. 9d4506550842ef4ad199135517ec1033e40dae93
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From: Jérémie D. <Ba...@us...> - 2011-03-29 13:25:19
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from fd224ab8ffc2fdc42e03a8aed77b0818592a0844 (commit)
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- Log -----------------------------------------------------------------
commit 9d4506550842ef4ad199135517ec1033e40dae93
Author: Jérémie Dimino <je...@di...>
Date: Tue Mar 29 15:24:34 2011 +0200
[info] allow to set the speed/acceleration for rotations and movements separately
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index df3b383..8dd2f54 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -456,8 +456,8 @@ module Board = struct
let alpha = atan2 (y -. board.state.y) (x -. board.state.x) -. board.state.theta in
lwt () = Krobot_message.send board.bus (Unix.gettimeofday (),
Motor_turn(alpha,
- board.ui#speed#adjustment#value,
- board.ui#acceleration#adjustment#value)) in
+ board.ui#rotation_speed#adjustment#value,
+ board.ui#rotation_acceleration#adjustment#value)) in
lwt () = wait_done board in
(* Move the robot. *)
@@ -465,8 +465,8 @@ module Board = struct
let dist = sqrt (sqr (x -. board.state.x) +. sqr (y -. board.state.y)) in
lwt () = Krobot_message.send board.bus (Unix.gettimeofday (),
Motor_move(dist,
- board.ui#speed#adjustment#value,
- board.ui#acceleration#adjustment#value)) in
+ board.ui#moving_speed#adjustment#value,
+ board.ui#moving_acceleration#adjustment#value)) in
lwt () = wait_done board in
(* Remove the point. *)
diff --git a/info/control2011/src/tools/krobot_viewer_ui.glade b/info/control2011/src/tools/krobot_viewer_ui.glade
index a08240e..641dc86 100644
--- a/info/control2011/src/tools/krobot_viewer_ui.glade
+++ b/info/control2011/src/tools/krobot_viewer_ui.glade
@@ -286,12 +286,12 @@
<child>
<widget class="GtkTable" id="table1">
<property name="visible">True</property>
- <property name="n_rows">2</property>
+ <property name="n_rows">4</property>
<property name="n_columns">2</property>
<child>
<widget class="GtkLabel" id="label3">
<property name="visible">True</property>
- <property name="label" translatable="yes">Speed: </property>
+ <property name="label" translatable="yes">Moving speed: </property>
</widget>
<packing>
<property name="x_options">GTK_FILL</property>
@@ -301,7 +301,7 @@
<child>
<widget class="GtkLabel" id="label4">
<property name="visible">True</property>
- <property name="label" translatable="yes">Acceleration: </property>
+ <property name="label" translatable="yes">Moving acceleration: </property>
</widget>
<packing>
<property name="top_attach">1</property>
@@ -311,11 +311,11 @@
</packing>
</child>
<child>
- <widget class="GtkSpinButton" id="speed">
+ <widget class="GtkSpinButton" id="moving_speed">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="invisible_char">●</property>
- <property name="adjustment">0.5 0 2 0.10000000000000001 0.20000000000000001 0.20000000000000001</property>
+ <property name="adjustment">0.5 0 2 0.10000000000000001 0 0</property>
<property name="digits">2</property>
<property name="numeric">True</property>
</widget>
@@ -326,11 +326,11 @@
</packing>
</child>
<child>
- <widget class="GtkSpinButton" id="acceleration">
+ <widget class="GtkSpinButton" id="moving_acceleration">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="invisible_char">●</property>
- <property name="adjustment">1 0 10 0.10000000000000001 0.20000000000000001 0.20000000000000001</property>
+ <property name="adjustment">1 0 10 0.10000000000000001 0 0</property>
<property name="digits">2</property>
<property name="numeric">True</property>
</widget>
@@ -342,6 +342,62 @@
<property name="y_options">GTK_FILL</property>
</packing>
</child>
+ <child>
+ <widget class="GtkLabel" id="label5">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Rotation speed: </property>
+ </widget>
+ <packing>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label6">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Rotation acceleration: </property>
+ </widget>
+ <packing>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkSpinButton" id="rotation_speed">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="invisible_char">•</property>
+ <property name="adjustment">0.99999999999999989 0 4 0.10000000000000001 0 0</property>
+ <property name="digits">2</property>
+ <property name="numeric">True</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkSpinButton" id="rotation_acceleration">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="invisible_char">•</property>
+ <property name="adjustment">2.0000000000000009 0 10 0.10000000000000001 0 0</property>
+ <property name="digits">2</property>
+ <property name="numeric">True</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
</widget>
<packing>
<property name="expand">False</property>
@@ -349,6 +405,9 @@
</packing>
</child>
<child>
+ <placeholder/>
+ </child>
+ <child>
<widget class="GtkViewport" id="viewport1">
<property name="visible">True</property>
<property name="resize_mode">queue</property>
@@ -357,7 +416,7 @@
</child>
</widget>
<packing>
- <property name="position">7</property>
+ <property name="position">8</property>
</packing>
</child>
</widget>
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