Revision b1fdaaf6 scout/scoutsim/src/scout.cpp

View differences:

scout/scoutsim/src/scout.cpp
233 233
        /// @todo Consider using different cutoffs for different features
234 234
        while (reading < 128); /// @todo Get rid of hardcoded stuff like this
235 235
        
236
	if(sonar_on == TRUE)
237
	{        
238
		// draw a circle at the wall_x, wall_y where reading > 128
239
		sonar_dc.SelectObject(*path_bitmap);
240
		sonar_dc.SetBrush(*wxRED_BRUSH); //old value
241
		sonar_dc.DrawCircle(wxPoint(old_dx,old_dy), 2);
236
	if(sonar_on)
237
	{       
238
		if(isFront)
239
		{
240
			// draw a circle at the wall_x, wall_y where reading > 128
241
			sonar_dc.SelectObject(*path_bitmap);
242
			sonar_dc.SetBrush(*wxRED_BRUSH); //old value
243
			sonar_dc.DrawCircle(wxPoint(old_front_dx,old_front_dy), 2);
244
			old_front_dx = d_x;
245
			old_front_dy = d_y;
246
		}
247
		else
248
		{
249
			// draw a circle at the wall_x, wall_y where reading > 128
250
			sonar_dc.SelectObject(*path_bitmap);
251
			sonar_dc.SetBrush(*wxRED_BRUSH); //old value
252
			sonar_dc.DrawCircle(wxPoint(old_back_dx,old_back_dy), 2);
253
			old_back_dx = d_x;
254
			old_back_dy = d_y;
255
		}
242 256

  
243 257
		sonar_dc.SetBrush(*wxGREEN_BRUSH);  //newest value
244 258
		sonar_dc.DrawCircle( wxPoint(d_x,d_y), 2);
245
		old_dx = d_x;
246
		old_dy = d_y;
259
		if (isFront) //for some reason isFront = (!isFront) is not working
260
		{
261
			isFront = FALSE;
262
		}
263
		else
264
		{
265
			isFront = TRUE;	
266
		}
267
			
247 268
	}
248 269
        return d;
249 270
    }

Also available in: Unified diff