From 5200f42ffabdcf88ccabf93957a3a09e49ed91f0 Mon Sep 17 00:00:00 2001
From: Daniel Flickinger <flikx@flux.utah.edu>
Date: Wed, 15 Dec 2004 07:23:27 +0000
Subject: [PATCH] Added printout of move and pivot lengths. Zero (or VERY
small) values are still confusing the poor little Garcia robot. :-(
---
robots/primotion/dgrobot/grobot.cc | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/robots/primotion/dgrobot/grobot.cc b/robots/primotion/dgrobot/grobot.cc
index e39aa98c0b..8c2095cb23 100755
--- a/robots/primotion/dgrobot/grobot.cc
+++ b/robots/primotion/dgrobot/grobot.cc
@@ -129,6 +129,9 @@ void grobot::pbMove(float mdisplacement) {
// execute a move primitive
if (mdisplacement != 0.0f) {
+ // send the move to the robot
+ std::cout << "Move length: " << mdisplacement << std::endl;
+
acpValue moveLength((float)(mdisplacement));
pBehavior = garcia.createNamedBehavior("move", "move1");
pBehavior->setNamedValue("distance", &moveLength);
@@ -181,6 +184,9 @@ void grobot::pbPivot(float pangle) {
}
if (pangle != 0.0f) {
+ // send the pivot to the robot
+ std::cout << "Pivot angle: " << pangle << std::endl;
+
acpValue pivotAngle((float)(pangle));
pBehavior = garcia.createNamedBehavior("pivot", "pivot1");
pBehavior->setNamedValue("angle", &pivotAngle);
--
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