void Head::sweepWithoutCompass() {
uint8_t pos = 0;
for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
pointTo(pos); // tell servo to go to position in variable 'pos'
}
for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
{
pointTo(pos); // tell servo to go to position in variable 'pos'
}
}
void GetMargin::UnitChange(const QString unite)
{
unitas = unite;
setter.setValue("CurrentRunningUnit",unitas);
doubleSpinBox->setSuffix(QString(" %1.").arg(unitas));
doubleSpinBox_2->setSuffix(QString(" %1.").arg(unitas));
doubleSpinBox_3->setSuffix(QString(" %1.").arg(unitas));
doubleSpinBox_4->setSuffix(QString(" %1.").arg(unitas));
doubleSpinBox_4->setValue(pointTo(a1,unitas)); /* top */
doubleSpinBox_2->setValue(pointTo(a2,unitas)); /* right*/
doubleSpinBox->setValue(pointTo(a3,unitas)); /* bottom */
doubleSpinBox_3->setValue(pointTo(a4,unitas)); /* left */
}
void RobotControl::turn(int angle){
int originalAngle=compassRead();
int target=originalAngle+angle;
pointTo(target);
/*uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,speed);//right
delay(10);
}else{
motorsWrite(-speed,-speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}*/
}
void MaxFlowVisualizer::drawEdge(const Edge &edge, QPainter &painter) const {
QPen pen;
pen.setWidth(3);
// Ребро, которое считается "допустимым" по алгоритму, выделяем черным.
if (relabelToFrontAlgo.getVertexHeight(edge.getFirstVertexIndex())
== relabelToFrontAlgo.getVertexHeight(edge.getSecondVertexIndex()) + 1) {
pen.setColor(Qt::black);
}
else {
pen.setColor(Qt::gray);
}
if (edge.getFlow() != 0) {
pen.setColor(Qt::darkBlue);
}
// Если в последнем действии алгоритма произошло проталкивание по этому ребру,
// то выделим его красным.
if (lastAlgoAction.getType() == AlgoAction::ACTION_PUSH && lastAlgoAction.getEdgeInfo() == edge) {
pen.setColor(Qt::red);
}
painter.setPen(pen);
QPoint pointFrom(verteciesList[edge.getFirstVertexIndex()].getCenterCoordX(),
verteciesList[edge.getFirstVertexIndex()].getCenterCoordY());
QPoint pointTo(verteciesList[edge.getSecondVertexIndex()].getCenterCoordX(),
verteciesList[edge.getSecondVertexIndex()].getCenterCoordY());
double length = sqrt(pow(pointFrom.x() - pointTo.x(), 2)
+ pow(pointFrom.y() - pointTo.y(), 2));
long vertexRaduis = verteciesList[edge.getSecondVertexIndex()].getRadius();
QPoint offsetVector((pointFrom.x() - pointTo.x()) * vertexRaduis / length,
(pointFrom.y() - pointTo.y()) * vertexRaduis / length);
QPoint arrow((pointFrom.x() - pointTo.x()) * 20 / length,
(pointFrom.y() - pointTo.y()) * 20 / length);
// Рисование стрелки (самих маленьких боковых линий).
// Перенесем систему координат в точку конца ребра (ориенированного).
// Возьмем маленький отрезок ребра, и нарисуем его, повернув при этом систуму координат
// на +30 и -30 градусов соответственно относительно исходного ребра.
// Получилась стрелка ->
// После этого восстановим систему координат.
painter.setPen(pen);
painter.drawLine(pointFrom, pointTo);
painter.translate(pointTo.x(), pointTo.y());
// Еще нужно отступить от конца ребра на радиус вершины
// (т.к. ребро идет от центра к центру).
painter.translate(offsetVector.x(), offsetVector.y());
painter.rotate(30);
painter.drawLine(QPoint(0, 0), arrow);
painter.rotate(-60);
painter.drawLine(QPoint(0, 0), arrow);
painter.resetTransform();
// Выводим информацию о ребре (flow | capacity) по середине ребра.
if (state == ALGORITHM_RUN || (state == ALGORITHM_TERM && edge.flow != 0)) {
QPen penForEdgeInfo;
penForEdgeInfo.setColor(Qt::darkGreen);
painter.setPen(penForEdgeInfo);
std::string edgeInfo = "(" + std::to_string(edge.getFlow()) + " | " + std::to_string(edge.getCapacity()) + ")";
painter.drawText(pointFrom.x() + (pointTo.x() - pointFrom.x()) / 2,
pointFrom.y() + (pointTo.y() - pointFrom.y()) / 2,
edgeInfo.c_str());
}
}
void Head::calibrate() {
Serial.println("Calibrating");
if (compass == 0) {
return;
}
int initialHeading = compass->getHeading();
if (initialHeading == -1) {
return;
}
uint8_t pos = 0;
Serial.print("Initial heading :");
Serial.println(initialHeading);
Serial.println("Look left");
for(pos = HEADING_FULL_RIGHT; pos < HEADING_FULL_LEFT; pos += 1)
{ // in steps of 1 degree
pointTo(pos); // tell servo to go to position in variable 'pos'
Serial.print("Pos :");
Serial.print(pos);
Serial.print(", Heading :");
Serial.println(compass->getAvgHeading());
}
Serial.print("End look left, wait. Current heading :");
Serial.println(compass->getAvgHeading());
Serial.println("Look right");
for(pos = HEADING_FULL_LEFT; pos>HEADING_FULL_RIGHT; pos-=1)
{
pointTo(pos); // tell servo to go to position in variable 'pos'
Serial.print("Pos :");
Serial.print(pos);
Serial.print(", Heading :");
Serial.println(compass->getAvgHeading());
}
Serial.print("End look right. Current heading :");
Serial.println(compass->getAvgHeading());
pointTo(HEADING_CENTERED);
Serial.println("End of calibration");
}
int PanelPageSize::FillFopAttributes(QDomElement e)
{
const qreal TopMargin = pointTo(P_margin.x(),"mm");
const qreal RightMargin = pointTo(P_margin.y(),"mm");
const qreal BottomMargin = pointTo(P_margin.width(),"mm");
const qreal LeftMargin = pointTo(P_margin.height(),"mm");
e.setAttribute("margin-top",QString("%1mm").arg(TopMargin));
e.setAttribute("margin-bottom",QString("%1mm").arg(BottomMargin));
e.setAttribute("margin-left",QString("%1mm").arg(LeftMargin));
e.setAttribute("margin-right",QString("%1mm").arg(RightMargin));
e.setAttribute("page-width",QString("%1mm").arg(pointTo(G_regt.width(),"mm")));
e.setAttribute("page-height",QString("%1mm").arg(pointTo(G_regt.height(),"mm")));
return 1;
}
void ObjectPointer::load(InputStream& stream)
{
pointTo(stream.readUint32());
}
qreal toUnit(qreal unit , const QString unita)
{
return pointTo(unit,unita);
}
