Project

General

Profile

Revision cda6b590

IDcda6b5906ba6414ee7134604c4863fc828593044
Parent fb9dad3d
Child f5548f32

Added by Yuyang Guo about 10 years ago

change BOM constants to near actual value

View differences:

scout/libscout/spawn_ems.sh
1 
rosservice call /spawn_em  3.5 1.07 3.063053 "em_0"
2 
rosservice call /spawn_em  3.5 1.14 3.2201 "em_1"
scout/scoutsim/src/emitter.cpp
127 127 
            path_dc.DrawLine(
128 128 
                pos.x * PIX_PER_METER,
129 129 
                pos.y * PIX_PER_METER,
130 
                (pos.x+cos(orient-BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER,
131 
                (pos.y-sin(orient-BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER);
130 
                (pos.x+cos(orient-BOM_EM_APERTURE/2)*
131 
                    BOM_EM_DISTANCE)*PIX_PER_METER,
132 
                (pos.y-sin(orient-BOM_EM_APERTURE/2)*
133 
                    BOM_EM_DISTANCE)*PIX_PER_METER);
132 134 
            path_dc.DrawLine(
133 135 
                pos.x * PIX_PER_METER,
134 136 
                pos.y * PIX_PER_METER,
135 
                (pos.x+cos(orient+BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER,
136 
                (pos.y-sin(orient+BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER);
137 
                (pos.x+cos(orient+BOM_EM_APERTURE/2)*
138 
                    BOM_EM_DISTANCE)*PIX_PER_METER,
139 
                (pos.y-sin(orient+BOM_EM_APERTURE/2)*
140 
                    BOM_EM_DISTANCE)*PIX_PER_METER);
137 141 

  		




  138
  142
  
    

  		




  139
  143
  
    
            path_dc.DrawCircle(


  		




  140
  
  
    
                wxPoint((pos.x+cos(orient-BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER,


  		




  141
  
  
    
                        (pos.y-sin(orient-BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER)


  		




  
  144
  
    
                wxPoint((pos.x+cos(orient-BOM_EM_APERTURE/2)*


  		




  
  145
  
    
                            BOM_EM_DISTANCE)*PIX_PER_METER,


  		




  
  146
  
    
                        (pos.y-sin(orient-BOM_EM_APERTURE/2)*


  		




  
  147
  
    
                            BOM_EM_DISTANCE)*PIX_PER_METER)


  		




  142
  148
  
    
                ,2);


  		




  143
  149
  
    
            path_dc.DrawCircle(


  		




  144
  
  
    
                wxPoint((pos.x+cos(orient+BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER,


  		




  145
  
  
    
                        (pos.y-sin(orient+BOM_APERTURE/2)*BOM_DISTANCE)*PIX_PER_METER)


  		




  
  150
  
    
                wxPoint((pos.x+cos(orient+BOM_EM_APERTURE/2)*


  		




  
  151
  
    
                            BOM_EM_DISTANCE)*PIX_PER_METER,


  		




  
  152
  
    
                        (pos.y-sin(orient+BOM_EM_APERTURE/2)*


  		




  
  153
  
    
                            BOM_EM_DISTANCE)*PIX_PER_METER)


  		




  146
  154
  
    
              ,2);


  		




  147
  155
  
    
        }


  		




  148
  156
  
    

  		












  

    
      scout/scoutsim/src/emitter.h
    
  





  24
  24
  
    
// Distance, pixels, from center of robot to the linesensors.


  		




  25
  25
  
    
#define LNSNSR_D 20


  		




  26
  26
  
    

  		




  27
  
  
    
#define BOM_APERTURE (PI / 3.0)


  		




  28
  
  
    
#define BOM_DISTANCE 1.0


  		




  
  27
  
    
#define BOM_EM_APERTURE (PI * 0.05) // 9 degrees


  		




  
  28
  
    
#define BOM_EM_DISTANCE 5.0


  		




  
  29
  
    
#define BOM_REC_APERTURE (PI / 6) // 30 degrees


  		




  
  30
  
    
#define BOM_REC_DISTANCE 5.0


  		




  29
  31
  
    

  		




  30
  32
  
    
namespace scoutsim


  		




  31
  33
  
    
{


  		












  

    
      scout/scoutsim/src/sim_frame.cpp
    
  





  144
  144
  
    
        teleop_scoutname = "scout1";


  		




  145
  145
  
    

  		




  146
  146
  
    
        //Emitter default values


  		




  147
  
  
    
        em_aperture = PI / 3.0;


  		




  148
  
  
    
        em_distance = 1.0;


  		




  
  147
  
    
        em_aperture = BOM_EM_APERTURE;


  		




  
  148
  
    
        em_distance = BOM_EM_DISTANCE;


  		




  149
  149
  
    

  		




  150
  150
  
    

  		




  151
  151
  
    
        teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000);


  		




  ......




  797
  797
  
    
            emitter_pos = m_it->second->get_pos();


  		




  798
  798
  
    

  		




  799
  799
  
    
            if(is_inrange(bom_pos, emitter_pos, em_aperture, em_distance) &&


  		




  800
  
  
    
               is_inrange(emitter_pos, bom_pos, BOM_APERTURE, BOM_DISTANCE)) {


  		




  
  800
  
    
               is_inrange(emitter_pos, bom_pos, BOM_REC_APERTURE, BOM_REC_DISTANCE)) {


  		




  801
  801
  
    
                string em_id_str = m_it->first.substr(m_it->first.find("_")+1);


  		




  802
  802
  
    
                emitter_id = atoi(em_id_str.c_str());


  		




  803
  803
  
    
                return emitter_id;


  		












Also available in:  Unified diff