Revision 638
New robot movement works. Battery meters work with new timing scheme. Still have some repainting issues.
| VectorController.java | ||
|---|---|---|
| 14 | 14 |
// State variables |
| 15 | 15 |
int x, y, cx, cy; |
| 16 | 16 |
final Colonet colonet; |
| 17 |
final ColonetServerInterface csi; |
|
| 18 | 17 |
|
| 19 | 18 |
// Painting constants |
| 20 | 19 |
final int WIDTH, HEIGHT; |
| ... | ... | |
| 22 | 21 |
final int BOT_SIZE = 70; |
| 23 | 22 |
final int WHEEL_SIZE = 15; |
| 24 | 23 |
|
| 25 |
public VectorController (Image img, Colonet colonet, ColonetServerInterface csi) {
|
|
| 24 |
public VectorController (Image img, Colonet colonet) {
|
|
| 26 | 25 |
super (img); |
| 27 | 26 |
WIDTH = img.getWidth(null); |
| 28 | 27 |
HEIGHT = img.getHeight(null); |
| ... | ... | |
| 36 | 35 |
SIDE = HEIGHT; |
| 37 | 36 |
} |
| 38 | 37 |
this.colonet = colonet; |
| 39 |
this.csi = csi; |
|
| 40 | 38 |
|
| 41 | 39 |
this.addMouseListener(this); |
| 42 | 40 |
this.addMouseMotionListener(this); |
| ... | ... | |
| 266 | 264 |
public void sendToServer () {
|
| 267 | 265 |
// Determine destination ID |
| 268 | 266 |
String dest = ColonetServerInterface.GLOBAL_DEST; |
| 267 |
ColonetServerInterface csi = colonet.getCSI(); |
|
| 269 | 268 |
/*if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex() > 0) {
|
| 270 | 269 |
dest = (String)cmbRobotNum.getSelectedItem(); |
| 271 | 270 |
}*/ |
| 272 | 271 |
|
| 273 | 272 |
if (csi == null) |
| 274 | 273 |
return; |
| 275 |
|
|
| 276 |
String motor1_string; |
|
| 277 |
String motor2_string; |
|
| 278 | 274 |
int motor1 = eliminateDeadZone(getMotorL()); |
| 279 | 275 |
int motor2 = eliminateDeadZone(getMotorR()); |
| 276 |
String motor1_string = (motor1 > 0) ? " 1 " + motor1 : " 0 " + (-motor1); |
|
| 277 |
String motor2_string = (motor2 > 0) ? " 1 " + motor2 : " 0 " + (-motor2); |
|
| 280 | 278 |
|
| 281 |
if (motor1 > 0) {
|
|
| 282 |
motor1_string = " 1 " + motor1; |
|
| 283 |
} else {
|
|
| 284 |
motor1_string = " 0 " + (-motor1); |
|
| 285 |
} |
|
| 286 |
if (motor2 > 0) {
|
|
| 287 |
motor2_string = " 1 " + motor2; |
|
| 288 |
} else {
|
|
| 289 |
motor2_string = " 0 " + (-motor2); |
|
| 290 |
} |
|
| 291 |
|
|
| 292 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + motor1_string, dest); |
|
| 293 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + motor2_string, dest); |
|
| 294 |
|
|
| 295 |
/* |
|
| 296 |
// Directional commands |
|
| 297 |
if (x > cx && y == cy) { //move right
|
|
| 298 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", dest); |
|
| 299 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", dest); |
|
| 300 |
} else if (x < cx && y == cy) { //move left
|
|
| 301 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", dest); |
|
| 302 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", dest); |
|
| 303 |
} else if (x == cx && y > cy) { //move forward
|
|
| 304 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 225", dest); |
|
| 305 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 225", dest); |
|
| 306 |
} else if (x == cx && y < cy) { //move backward
|
|
| 307 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 225", dest); |
|
| 308 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 225", dest); |
|
| 309 |
} else if (x == cx && y == cy) { //stop!
|
|
| 310 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 0", dest); |
|
| 311 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 0", dest); |
|
| 312 |
} |
|
| 313 |
*/ |
|
| 314 |
|
|
| 315 |
/* |
|
| 316 |
// Atomic Directional commands |
|
| 317 |
if (x > cx && y == cy) { //move right
|
|
| 318 |
csi.sendData(ColonetServerInterface.MOVE_R, dest); |
|
| 319 |
} else if (x < cx && y == cy) { //move left
|
|
| 320 |
csi.sendData(ColonetServerInterface.MOVE_L, dest); |
|
| 321 |
} else if (x == cx && y > cy) { //move forward
|
|
| 322 |
csi.sendData(ColonetServerInterface.MOVE_F, dest); |
|
| 323 |
} else if (x == cx && y < cy) { //move backward
|
|
| 324 |
csi.sendData(ColonetServerInterface.MOVE_B, dest); |
|
| 325 |
} else if (x == cx && y == cy) { //stop
|
|
| 326 |
csi.sendData(ColonetServerInterface.MOTORS_OFF, dest); |
|
| 327 |
} |
|
| 328 |
*/ |
|
| 279 |
csi.sendData(ColonetServerInterface.MOVE + motor1_string + motor2_string, dest); |
|
| 329 | 280 |
} |
| 330 | 281 |
|
| 331 | 282 |
} |
Also available in: Unified diff