void Traction::moveStraight(bool forward)
{
m_isLeftMotorFwd = forward;
m_isRightMotorFwd = forward;
m_speed_value_motor_left = MOTOR_SPEED_STRAIGHT;
m_speed_value_motor_right = MOTOR_SPEED_STRAIGHT;
updateActors();
}
void Traction::spinOnPlace(bool right, float angle)
{
// startAngle = free6Imu->getYawAngle();
// setPointAngle = startAngle + angle;
m_isLeftMotorFwd = right;
m_isRightMotorFwd = !right;
m_speed_value_motor_left = MOTOR_SPIN_SPEED;
m_speed_value_motor_right = MOTOR_SPIN_SPEED;
updateActors();
}
WITVolumeViz::ActorSet *WITVolumeViz::generateNewActorSet(vtkRenderWindow *win)
{
if(!win)
return 0;
ActorSet* as = new ActorSet();
as->sag = vtkImageActor::New();
as->axial = vtkImageActor::New();
as->cor = vtkImageActor::New();
as->text = vtkTextActor::New();
// Build border actor/mapper
as->border = vtkActor::New();
as->borderMapper = vtkPolyDataMapper::New();
as->borderMapper->SetInput(this->_pdBorder);
as->border->SetMapper(as->borderMapper);
as->border->GetProperty()->SetColor(1,0,0);
as->border->GetProperty()->SetLineWidth(5);
// used to see if we clicked on a image plane
as->propPicker = vtkPropPicker::New();
as->propCollection = vtkPropCollection::New();
// add the image planes and border to the actor picker
as->propCollection->AddItem(as->axial);
as->propCollection->AddItem(as->sag);
as->propCollection->AddItem(as->cor);
as->propCollection->AddItem(as->border);
// Store it in our hashmap
this->windowToActorSet[win] = as;
updateActors();
return as;
}
void Traction::motorStop()
{
m_speed_value_motor_left = 0;
m_speed_value_motor_right = 0;
updateActors();
}
