Revision b1fdaaf6
| ID | b1fdaaf62c9a219ee2786b467bc79c908c2e0a70 |
Added toggle for Sonar. Added backsonar indicate
-Sonar can be toggled under Sim -> Sonar
-Front and Back onars now display most recent scan point as a green dot
| 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) |
|
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{
|
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// 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 |
|
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sonar_dc.DrawCircle(wxPoint(old_dx,old_dy), 2); |
|
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if(sonar_on) |
|
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{
|
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if(isFront) |
|
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{
|
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// draw a circle at the wall_x, wall_y where reading > 128 |
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sonar_dc.SelectObject(*path_bitmap); |
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sonar_dc.SetBrush(*wxRED_BRUSH); //old value |
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sonar_dc.DrawCircle(wxPoint(old_front_dx,old_front_dy), 2); |
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old_front_dx = d_x; |
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old_front_dy = d_y; |
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} |
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else |
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{
|
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// draw a circle at the wall_x, wall_y where reading > 128 |
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sonar_dc.SelectObject(*path_bitmap); |
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sonar_dc.SetBrush(*wxRED_BRUSH); //old value |
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sonar_dc.DrawCircle(wxPoint(old_back_dx,old_back_dy), 2); |
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old_back_dx = d_x; |
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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); |
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old_dx = d_x; |
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old_dy = d_y; |
|
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if (isFront) //for some reason isFront = (!isFront) is not working |
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{
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isFront = FALSE; |
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} |
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else |
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{
|
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isFront = TRUE; |
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} |
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|
|
| 247 | 268 |
} |
| 248 | 269 |
return d; |
| 249 | 270 |
} |
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