Update of /cvsroot/playerstage/code/player/server/drivers/position/nav200
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2508/nav200
Modified Files:
sicknav200.cc test.cpp
Log Message:
minor enhancements for nav200 driver (angle fixes)
Index: test.cpp
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/position/nav200/test.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test.cpp 20 Sep 2006 11:17:56 -0000 1.1
--- test.cpp 18 Dec 2006 12:17:22 -0000 1.2
***************
*** 9,13 ****
PositionXY reflector;
Nav200 testing;
! testing.Initialise();
if (testing.EnterStandby())
{
--- 9,13 ----
PositionXY reflector;
Nav200 testing;
! testing.Initialise("/dev/ttyS1");
if (testing.EnterStandby())
{
Index: sicknav200.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/position/nav200/sicknav200.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** sicknav200.cc 1 Dec 2006 02:47:52 -0000 1.3
--- sicknav200.cc 18 Dec 2006 12:17:22 -0000 1.4
***************
*** 184,188 ****
this->device_name = strdup(cf->ReadString(section, "port", DEFAULT_PORT));
! // nav200 parameters, conver to cm
this->min_radius = static_cast<int> (cf->ReadLength(section, "min_radius",
1) * 100);
this->max_radius = static_cast<int> (cf->ReadLength(section, "max_radius",
30) * 100);
--- 184,188 ----
this->device_name = strdup(cf->ReadString(section, "port", DEFAULT_PORT));
! // nav200 parameters, convert to cm
this->min_radius = static_cast<int> (cf->ReadLength(section, "min_radius",
1) * 100);
this->max_radius = static_cast<int> (cf->ReadLength(section, "max_radius",
30) * 100);
***************
*** 290,295 ****
data_packet.pos.px = static_cast<double> (Reading.pos.x)/1000;
data_packet.pos.py = static_cast<double> (Reading.pos.y)/1000;
! data_packet.pos.pa = static_cast<double> (Reading.orientation)/1000;
!
if(Reading.quality==0xFF || Reading.quality==0xFE ||
Reading.quality==0x00)
{
--- 290,295 ----
data_packet.pos.px = static_cast<double> (Reading.pos.x)/1000;
data_packet.pos.py = static_cast<double> (Reading.pos.y)/1000;
! double angle = M_PI + Reading.orientation/32768.0*M_PI;
! data_packet.pos.pa = atan2(sin(angle), cos(angle));
if(Reading.quality==0xFF || Reading.quality==0xFE ||
Reading.quality==0x00)
{
-------------------------------------------------------------------------
Take Surveys. Earn Cash. Influence the Future of IT
Join SourceForge.net's Techsay panel and you'll get the chance to share your
opinions on IT & business topics through brief surveys - and earn cash
http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
