void CLocomotion::lAvancer (unsigned int distance, int dir)
{
Serial.println("ENTER LAVANCER");
Serial.println(distance);
if (distance == 0) return;
resetPulses();
if(m_flag) {
lStop();
updatePulses();
updateCoord();
return;
}
unsigned long fPulses = DToPulses(distance);
Serial.print("FPULSES : ");
Serial.println(fPulses);
m_etat.dir = dir;
m_speedConsigne=10;
lPositionControl(fPulses);
lStop();
delay(200);
Serial.println("FINAL PULSES");
printLPulses();
updatePulses();
updateCoord();
// Serial.println(getCurrentX());
// Serial.println(getCurrentY());
// Serial.println(getCurrentTheta());
// Serial.println(m_dPulses);
// Serial.println(m_mPulses);
}
void CLocomotion::lTurn (unsigned int angle, int dir)
{
Serial.println("ENTER LTURN");
Serial.println(angle);
if (angle == 0) {
// Serial.println("RETURN1");
return;
}
// Serial.println("RESET");
resetPulses();
// Serial.println("TEST2");
// if(m_flag) {
// Serial.println("LSTOP");
// lStop();
// Serial.println("RETURN");
// return;
// }
unsigned long fPulses = AToPulses(angle);
Serial.print("FPULSES : ");
Serial.println(fPulses);
m_etat.dir = dir;
m_speedConsigne=10;
lAngleControl(fPulses);
lStop();
delay(200);
updatePulses();
updateCoord();
// printLPulses();
Serial.print("THETA FINAL : ");
Serial.println(m_etat.theta);
// Serial.println(getCurrentTheta());
}
void SelectorControl::notifyWindowChangeCoord(MyGUI::Window* _sender)
{
MyGUI::IntCoord coord = _sender->getCoord() - mProjectionDiff;
const MyGUI::IntCoord& actionScale = _sender->getActionScale();
if (actionScale.left != 0 && actionScale.width != 0)
{
int right = mCoordValue.right();
mCoordValue.width = (int)((double)coord.width / mScaleValue);
mCoordValue.left = right - mCoordValue.width;
}
else
{
mCoordValue.left = (int)((double)coord.left / mScaleValue);
mCoordValue.width = (int)((double)coord.width / mScaleValue);
}
if (actionScale.top != 0 && actionScale.height != 0)
{
int bottom = mCoordValue.bottom();
mCoordValue.height = (int)((double)coord.height / mScaleValue);
mCoordValue.top = bottom - mCoordValue.height;
}
else
{
mCoordValue.top = (int)((double)coord.top / mScaleValue);
mCoordValue.height = (int)((double)coord.height / mScaleValue);
}
updateCoord();
eventChangePosition();
}
void StateTextureControl::updateSkinProperty(Property* _sender, const MyGUI::UString& _owner)
{
if (_owner != mTypeName)
{
if (_sender->getName() == "Texture")
updateTexture();
else if (_sender->getName() == "Coord")
updateCoord();
}
}
void StateTextureControl::updateSkinProperties()
{
updateTexture();
updateCoord();
}
void SelectorControl::setScale(double _value)
{
mScaleValue = _value;
updateCoord();
}
void SelectorControl::setCoord(const MyGUI::IntCoord& _value)
{
mCoordValue = _value;
updateCoord();
}
void SelectorControl::setPosition(const MyGUI::IntPoint& _value)
{
mCoordValue = _value;
updateCoord();
}
