Changeset 314 in flair-src for trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp

Timestamp:

Mar 21, 2019, 2:04:45 PM (6 years ago)

Author:

Sanahuja Guillaume

Message:

maj joystick

File:

• trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp (modified) (3 diffs)

trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp

@@ -102 +102 @@
   u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
 
-  opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");
+  opticalFlowGroupBox=new GroupBox(GetTargetController()->GetTab()->NewRow(),"consignes fo");
   maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
   maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
@@ -131 +131 @@
     switch(event) {
     case Event_t::EnteringControlLoop:
-        opticalFlowReference->SetValue(0,0,GetJoystick()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement
-        opticalFlowReference->SetValue(1,0,GetJoystick()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement
+        opticalFlowReference->SetValue(0,0,GetTargetController()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement
+        opticalFlowReference->SetValue(1,0,GetTargetController()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement
         float focal=271.76;
         float z,dz;
@@ -164 +164 @@
     static bool wasOpticalFlowModeButtonPressed=false;
     // controller button R1 enters optical flow mode
-    if(GetJoystick()->IsButtonPressed(9)) { // R1
+    if(GetTargetController()->IsButtonPressed(9)) { // R1
         if (!wasOpticalFlowModeButtonPressed) {
             wasOpticalFlowModeButtonPressed=true;