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[Krobot-commits] [SCM] krobot branch, master, updated. 359be2f1968db3385d01c70152350ce9f8a282c8
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From: Nicolas D. <Ba...@us...> - 2011-04-03 12:44:58
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- Log -----------------------------------------------------------------
commit 359be2f1968db3385d01c70152350ce9f8a282c8
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sun Apr 3 14:43:18 2011 +0200
[krobot_viewer] Add more info about the beacon in the UI
commit 19089f6db1f39f24cf16f6205a818fb1ccac7032
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sun Apr 3 14:43:10 2011 +0200
[krobot_viewer] consider the rotary beacon index position
commit 1219a1b834232b76b2f02e29f2e00c3c463a9d42
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sun Apr 3 14:42:01 2011 +0200
[krobot_message] Use the right data size for the Beacon low level packet
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index acb9ff9..991a55d 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -13,3 +13,4 @@ let robot_size = 0.3
let wheels_diameter = 0.098
let wheels_distance = 0.259
let wheels_position = 0.045
+let rotary_beacon_index_pos = (4. *. atan 1.) /. 2. (* left side *)
diff --git a/info/control2011/src/lib/krobot_config.mli b/info/control2011/src/lib/krobot_config.mli
index bf336d5..266daaf 100644
--- a/info/control2011/src/lib/krobot_config.mli
+++ b/info/control2011/src/lib/krobot_config.mli
@@ -27,3 +27,7 @@ val wheels_distance : float
val wheels_position : float
(** The distance between the axe of the wheels and the back of the
robot. *)
+
+val rotary_beacon_index_pos : float
+ (** The angle of the rotary beacon index angle with respect to the
+ robot's front *)
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 3c3e51b..111d91a 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -203,10 +203,10 @@ let encode = function
~format:F29bits
~data
| Beacon_lowlevel_position(angle, width, period) ->
- let data = String.create 6 in
+ let data = String.create 8 in
put_uint16 data 0 (truncate (angle *. 10000.));
put_uint16 data 2 (truncate (width *. 100000.));
- put_uint16 data 4 period;
+ put_uint32 data 4 period;
frame
~identifier:302
~kind:Data
@@ -305,7 +305,7 @@ let decode frame =
Beacon_lowlevel_position
(float (get_uint16 frame.data 0) /. 10000.,
float (get_uint16 frame.data 2) /. 100000.,
- get_uint16 frame.data 4)
+ get_uint32 frame.data 4)
| _ ->
Unknown frame
with Invalid_argument _ ->
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index c83ff15..fe95de4 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -556,14 +556,17 @@ module Board = struct
board.ui#entry_moving3#set_text (if m3 then "yes" else "no");
board.ui#entry_moving4#set_text (if m4 then "yes" else "no")
| Beacon_position(angle, distance, period) ->
- let newangle = math_mod_float (board.state.theta +. angle) (2. *. pi) in
+ let newangle = math_mod_float (board.state.theta +. Krobot_config.rotary_beacon_index_pos +. angle) (2. *. pi) in
let x = board.state.x +. distance *. cos (newangle) in
let y = board.state.y +. distance *. sin (newangle) in
let valid = distance <> 0. in
let beacon = { xbeacon = x; ybeacon = y; valid; } in
if beacon <> board.beacon then begin
board.beacon <- beacon;
- board.ui#entry_beacon#set_text (if valid then "valid" else "invalid");
+ board.ui#beacon_status#set_text (if valid then "valid" else "invalid");
+ board.ui#beacon_distance#set_text (string_of_float distance);
+ board.ui#beacon_angle#set_text (string_of_float angle);
+ board.ui#beacon_period#set_text (string_of_float period);
queue_draw board
end
| _ ->
diff --git a/info/control2011/src/tools/krobot_viewer_ui.glade b/info/control2011/src/tools/krobot_viewer_ui.glade
index 45fbd13..485278d 100644
--- a/info/control2011/src/tools/krobot_viewer_ui.glade
+++ b/info/control2011/src/tools/krobot_viewer_ui.glade
@@ -793,11 +793,56 @@
</packing>
</child>
<child>
- <widget class="GtkEntry" id="entry_beacon">
+ <widget class="GtkHBox" id="hbox17">
<property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
+ <child>
+ <widget class="GtkEntry" id="beacon_status">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="beacon_distance">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="beacon_angle">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="beacon_period">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">3</property>
+ </packing>
+ </child>
</widget>
<packing>
<property name="left_attach">1</property>
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