RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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This commit is contained in:
Pascal Serrarens 2024-06-17 12:03:57 +02:00
parent c52d009c91
commit 7dfd2b0004
4 changed files with 19 additions and 18 deletions
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2
ControlledMotor.cpp
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@ -19,7 +19,7 @@ void ControlledMotor::SetTargetSpeed(float speed) {
// : Motor::Direction::Clockwise; // : Motor::Direction::Clockwise;
} }
void ControlledMotor::Update(float currentTimeMs) { void ControlledMotor::Update(unsigned long currentTimeMs) {
this->actualSpeed = encoder->GetRevolutionsPerSecond(currentTimeMs); this->actualSpeed = encoder->GetRevolutionsPerSecond(currentTimeMs);
if (this->currentTargetSpeed < 0) if (this->currentTargetSpeed < 0)
this->actualSpeed = -this->actualSpeed; this->actualSpeed = -this->actualSpeed;

26
NetworkSync.cpp
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@ -35,8 +35,8 @@ void NetworkSync::ReceiveNetworkId() {
// delay(100); // delay(100);
PublishModel(roboid); PublishModel(roboid);
// delay(100); // delay(100);
if (roboid->actuation != nullptr) if (roboid->childCount > 0)
PublishRelativeThing(roboid->actuation, true); PublishRelativeThing(roboid->GetChild(0), true);
} }
void NetworkSync::NewObject(InterestingThing *thing) { void NetworkSync::NewObject(InterestingThing *thing) {
@ -89,11 +89,11 @@ void NetworkSync::PublishModel(Roboid *roboid) {
return; return;
unsigned char ix = 0; unsigned char ix = 0;
buffer[ix++] = 0x90; // modelMsg buffer[ix++] = 0x90; // modelMsg
buffer[ix++] = 0x00; // objectId buffer[ix++] = 0x00; // objectId
Spherical s = Spherical(roboid->modelPosition); Spherical s = Spherical::zero; //(roboid->modelPosition);
SendSpherical(buffer, &ix, s); SendSpherical(buffer, &ix, s);
SendFloat16(buffer, &ix, roboid->modelScale); SendFloat16(buffer, &ix, 1); // roboid->modelScale);
buffer[ix++] = len; buffer[ix++] = len;
for (int urlIx = 0; urlIx < len; urlIx++) for (int urlIx = 0; urlIx < len; urlIx++)
@ -111,11 +111,11 @@ void NetworkSync::PublishModel(Thing *thing) {
return; return;
unsigned char ix = 0; unsigned char ix = 0;
buffer[ix++] = 0x90; // modelMsg buffer[ix++] = 0x90; // modelMsg
buffer[ix++] = thing->id; // objectId buffer[ix++] = thing->id; // objectId
Spherical s = Spherical(thing->modelPosition); Spherical s = Spherical::zero; // Spherical(thing->modelPosition);
SendSpherical(buffer, &ix, s); SendSpherical(buffer, &ix, s);
SendFloat16(buffer, &ix, thing->modelScale); SendFloat16(buffer, &ix, 1); // thing->modelScale);
buffer[ix++] = len; buffer[ix++] = len;
for (int urlIx = 0; urlIx < len; urlIx++) for (int urlIx = 0; urlIx < len; urlIx++)
@ -168,7 +168,7 @@ void NetworkSync::SendPose(Roboid *roboid, bool recurse) {
if (recurse) { if (recurse) {
// delay(10); // delay(10);
Thing *child = roboid->actuation; Thing *child = roboid->GetChild(0); // actuation;
if (child != nullptr) if (child != nullptr)
SendPose(child, true); SendPose(child, true);
} }
@ -213,8 +213,8 @@ void NetworkSync::PublishTrackedObjects(Roboid *roboid,
InterestingThing *obj = objects[objIx]; InterestingThing *obj = objects[objIx];
if (obj == nullptr) if (obj == nullptr)
continue; continue;
if (obj->sensor->type == Thing::ExternalType) // if (obj->sensor->type == Thing::ExternalType)
continue; // continue;
if (obj->confidence > 0) { if (obj->confidence > 0) {
PublishTrackedObject(roboid, obj); PublishTrackedObject(roboid, obj);

2
NetworkSync.h
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@ -72,7 +72,7 @@ public:
void SendPose(Roboid *roboid, bool recurse = true); void SendPose(Roboid *roboid, bool recurse = true);
void SendPose(Thing *thing, bool recurse = true); void SendPose(Thing *thing, bool recurse = true);
virtual void SendText(const char *s) {}; virtual void SendText(const char *s);
protected: protected:
Roboid *roboid; Roboid *roboid;

7
Thing.h
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@ -76,6 +76,10 @@ public:
/// @param currentTimeMs The current clock time in milliseconds /// @param currentTimeMs The current clock time in milliseconds
virtual void Update(unsigned long currentTimeMs) {} virtual void Update(unsigned long currentTimeMs) {}
unsigned char childCount = 0;
const char *modelUrl = nullptr;
protected: protected:
/// @brief Bitmask for Motor type /// @brief Bitmask for Motor type
static const unsigned int MotorType = 0x8000; static const unsigned int MotorType = 0x8000;
@ -99,10 +103,7 @@ protected:
}; };
Thing *parent = nullptr; Thing *parent = nullptr;
unsigned char childCount = 0;
Thing **children = nullptr; Thing **children = nullptr;
const char *modelUrl = nullptr;
}; };
} // namespace RoboidControl } // namespace RoboidControl