[Krobot-commits] [SCM] krobot branch, master, updated. f7aa980b1984ec97e06982b24182553a41a30b33

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit f7aa980b1984ec97e06982b24182553a41a30b33
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 31 14:12:36 2011 +0200

    [krobot_viewer] use the corrent wheels axe center

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index 05e699d..acb9ff9 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -12,3 +12,4 @@ let world_width = 3.
 let robot_size = 0.3
 let wheels_diameter = 0.098
 let wheels_distance = 0.259
+let wheels_position = 0.045
diff --git a/info/control2011/src/lib/krobot_config.mli b/info/control2011/src/lib/krobot_config.mli
index 7876fdd..bf336d5 100644
--- a/info/control2011/src/lib/krobot_config.mli
+++ b/info/control2011/src/lib/krobot_config.mli
@@ -23,3 +23,7 @@ val wheels_diameter : float
 
 val wheels_distance : float
   (** The distance between the two wheels. *)
+
+val wheels_position : float
+  (** The distance between the axe of the wheels and the back of the
+      robot. *)
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 66e4b73..2834f20 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -363,16 +363,17 @@ module Board = struct
     (* Draw the robot *)
     Cairo.translate ctx board.state.x board.state.y;
     Cairo.rotate ctx board.state.theta;
-    Cairo.rectangle ctx (-. robot_size /. 2.) (-. robot_size /. 2.) robot_size robot_size;
+    Cairo.rectangle ctx (-. wheels_position) (-. robot_size /. 2.) robot_size robot_size;
     set_color ctx White;
     Cairo.fill ctx;
 
     (* Draw an arrow on the robot *)
-    Cairo.move_to ctx (-. robot_size /. 4.) 0.;
-    Cairo.line_to ctx (robot_size /. 4.) 0.;
-    Cairo.line_to ctx 0. (-. robot_size /. 4.);
-    Cairo.line_to ctx 0. (robot_size /. 4.);
-    Cairo.line_to ctx (robot_size /. 4.) 0.;
+    let d = robot_size /. 2. -. wheels_position in
+    Cairo.move_to ctx (d -. robot_size /. 4.) 0.;
+    Cairo.line_to ctx (d +. robot_size /. 4.) 0.;
+    Cairo.line_to ctx d (-. robot_size /. 4.);
+    Cairo.line_to ctx d (robot_size /. 4.);
+    Cairo.line_to ctx (d +. robot_size /. 4.) 0.;
     set_color ctx Black;
     Cairo.stroke ctx;
 
@@ -605,7 +606,7 @@ lwt () =
             ignore_result (
               Krobot_message.send bus
                 (Unix.gettimeofday (),
-                 Set_odometry(0.2, 1.9, -0.5 *. pi))
+                 Set_odometry(0.2, 1.9 +. Krobot_config.robot_size /. 2. -. Krobot_config.wheels_position, -0.5 *. pi))
             );
           false));
 
@@ -616,7 +617,7 @@ lwt () =
             ignore_result (
               Krobot_message.send bus
                 (Unix.gettimeofday (),
-                 Set_odometry(Krobot_config.world_width -. 0.2, 1.9, -0.5 *. pi))
+                 Set_odometry(Krobot_config.world_width -. 0.2, 1.9 +. Krobot_config.robot_size /. 2. -. Krobot_config.wheels_position, -0.5 *. pi))
             );
           false));
 


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