Revision 7f095440
Sepearated refresh rate for scouts and for the simulator.
| scout/scoutsim/src/sim_frame.cpp | ||
|---|---|---|
| 68 | 68 |
srand(time(NULL)); |
| 69 | 69 |
|
| 70 | 70 |
update_timer = new wxTimer(this); |
| 71 |
update_timer->Start(SCOUTSIM_REFRESH_RATE * 1000);
|
|
| 71 |
update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
|
|
| 72 | 72 |
|
| 73 | 73 |
Connect(update_timer->GetId(), wxEVT_TIMER, |
| 74 | 74 |
wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
| ... | ... | |
| 316 | 316 |
SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
| 317 | 317 |
} |
| 318 | 318 |
|
| 319 |
// Runs every SCOUTSIM_REFRESH_RATE.
|
|
| 319 |
// Runs every REAL_TIME_REFRESH_RATE.
|
|
| 320 | 320 |
void SimFrame::onUpdate(wxTimerEvent& evt) |
| 321 | 321 |
{
|
| 322 | 322 |
ros::spinOnce(); |
| ... | ... | |
| 402 | 402 |
} |
| 403 | 403 |
else if (wxGetKeyState(WXK_LEFT)) |
| 404 | 404 |
{
|
| 405 |
teleop_l_speed = -TELEOP_PRECISE_SPEED * 2;
|
|
| 406 |
teleop_r_speed = TELEOP_PRECISE_SPEED * 2;
|
|
| 405 |
teleop_l_speed = -TELEOP_PRECISE_SPEED * 4;
|
|
| 406 |
teleop_r_speed = TELEOP_PRECISE_SPEED * 4;
|
|
| 407 | 407 |
} |
| 408 | 408 |
else if (wxGetKeyState(WXK_RIGHT)) |
| 409 | 409 |
{
|
| 410 |
teleop_l_speed = TELEOP_PRECISE_SPEED * 2;
|
|
| 411 |
teleop_r_speed = -TELEOP_PRECISE_SPEED * 2;
|
|
| 410 |
teleop_l_speed = TELEOP_PRECISE_SPEED * 4;
|
|
| 411 |
teleop_r_speed = -TELEOP_PRECISE_SPEED * 4;
|
|
| 412 | 412 |
} |
| 413 | 413 |
} |
| 414 | 414 |
|
| ... | ... | |
| 437 | 437 |
|
| 438 | 438 |
if (wxGetKeyState(WXK_LEFT)) |
| 439 | 439 |
{
|
| 440 |
teleop_fluid_omega -= TELEOP_FLUID_INC; |
|
| 440 |
teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
|
|
| 441 | 441 |
} |
| 442 | 442 |
else if (wxGetKeyState(WXK_RIGHT)) |
| 443 | 443 |
{
|
| 444 |
teleop_fluid_omega += TELEOP_FLUID_INC; |
|
| 444 |
teleop_fluid_omega += TELEOP_FLUID_INC * 2;
|
|
| 445 | 445 |
} |
| 446 | 446 |
else |
| 447 | 447 |
{
|
| ... | ... | |
| 522 | 522 |
|
| 523 | 523 |
for (; it != end; ++it) |
| 524 | 524 |
{
|
| 525 |
it->second->update(SCOUTSIM_REFRESH_RATE,
|
|
| 525 |
it->second->update(SIM_TIME_REFRESH_RATE,
|
|
| 526 | 526 |
path_dc,sonar_dc,sonar_visual_on, |
| 527 | 527 |
path_image, lines_image, walls_image, |
| 528 | 528 |
path_dc.GetBackground().GetColour(), |
| ... | ... | |
| 532 | 532 |
|
| 533 | 533 |
for (unsigned int i=0; i<ghost_scouts.size(); ++i) |
| 534 | 534 |
{
|
| 535 |
ghost_scouts.at(i)->update(0.016, path_dc, sonar_dc,
|
|
| 535 |
ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc,
|
|
| 536 | 536 |
path_dc.GetBackground().GetColour(), state); |
| 537 | 537 |
} |
| 538 | 538 |
|
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