void MainWindow::mousePressEvent ( QMouseEvent * event ) {
if ((event->x() >= 8) && (event->y() >= 8) && (event->x() <= (600)) && (event->y() <= 600)) {
double mapX = abs(300 - event->x());
double mapY = 300 - event->y();
if ((300 - event->x()) < 0)
setTargetDir(currRotorIndex,90-atan(mapY/mapX)*(180/PI));
else
setTargetDir(currRotorIndex,270+atan(mapY/mapX)*(180/PI));
}
}
void Robot::spinAroundDribbler(bool reverse, float period, float radius, float forwardSpeed) {
float speed = (2.0f * Math::PI * radius) / period;
float omega = (2.0f * Math::PI) / period;
if (reverse) {
speed *= -1.0f;
omega *= -1.0f;
}
setTargetDir(forwardSpeed, -speed, omega);
}
void Robot::stop() {
//std::cout << "! Stopping robot" << std::endl;
setTargetDir(0, 0, 0);
dribbler->stop();
}
void Robot::setTargetDir(const Math::Angle &dir, float speed, float omega) {
Math::Vector dirVector = Math::Vector::createForwardVec(dir.rad(), speed);
setTargetDir(dirVector.x, dirVector.y, omega);
}
void MainWindow::pushButtonRotateCCWPressed() {
//We don't have any way to control the webswitch CW/CCW so we just do like this instead
setTargetDir(currRotorIndex,0);
}
