Changeset 171 in flair-src for trunk/demos/CircleFollower/uav

Timestamp:

Apr 24, 2017, 3:26:56 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

add vrpn hold

Location:

trunk/demos/CircleFollower/uav/src

Files:

• CircleFollower.cpp (modified) (3 diffs)
• CircleFollower.h (modified) (1 diff)

trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

@@ -49 +49 @@
     startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
     stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
+    positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
 
     if(vrpnclient->UseXbee()==true) {
@@ -216 +217 @@
         StopCircle();
     }
+    if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
+        VrpnPositionHold();
+    }
 }
 
@@ -227 +231 @@
     if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
         StopCircle();
+    }
+    
+    //R1 and Square
+    if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
+        VrpnPositionHold();
     }
 }

trunk/demos/CircleFollower/uav/src/CircleFollower.h

@@ -64 +64 @@
         float yawHold;
 
-        flair::gui::PushButton *startCircle,*stopCircle;
+        flair::gui::PushButton *startCircle,*stopCircle,*positionHold;
         flair::meta::MetaVrpnObject *targetVrpn,*uavVrpn;
         flair::filter::TrajectoryGenerator2DCircle *circle;