Changeset 435 in flair-src for trunk/demos/TwoWheelRobotCircleFollower

Timestamp:

Jul 15, 2021, 2:44:03 PM (3 years ago)

Author:

Sanahuja Guillaume

Message:

add logs to ugv

Location:

trunk/demos/TwoWheelRobotCircleFollower/ugv/src

Files:

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

trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp

@@ -61 +61 @@
     startCircle=new PushButton(buttonslayout->NewRow(),"start_circle");
     stopCircle=new PushButton(buttonslayout->LastRowLastCol(),"stop_circle");
+    button_start_log = new PushButton(buttonslayout->NewRow(), "start_log");
+    button_stop_log = new PushButton(buttonslayout->LastRowLastCol(), "stop_log");
     
     circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
@@ -77 +79 @@
     uY=new Pid(setupLawTab->At(1,1),"u_y");
     uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
+    
+    getFrameworkManager()->AddDeviceToLog(uX);
+    getFrameworkManager()->AddDeviceToLog(uY);
     
     l=new DoubleSpinBox(setupLawTab->NewRow(),"L", " m", 0, 10, 0.1, 1,1);
@@ -104 +109 @@
 
 void CircleFollower::CheckPushButton(void) {
+  if (button_start_log->Clicked() == true)
+    getFrameworkManager()->StartLog();
+  if (button_stop_log->Clicked() == true)
+    getFrameworkManager()->StopLog();
+  
   if (startCircle->Clicked() == true)
       StartCircle();

trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.h

@@ -56 +56 @@
 
         flair::filter::Pid *uX, *uY;
-        flair::gui::PushButton *startCircle,*stopCircle,*button_kill;
+        flair::gui::PushButton *startCircle,*stopCircle,*button_kill,*button_start_log,*button_stop_log;
         flair::gui::DoubleSpinBox *l;
         flair::meta::MetaVrpnObject *targetVrpn,*ugvVrpn;