From f795f60fe6cb1bb010474bd75ee727386791d98c Mon Sep 17 00:00:00 2001
From: Daniel Flickinger <flikx@flux.utah.edu>
Date: Wed, 15 Dec 2004 22:06:06 +0000
Subject: [PATCH] Since the changes to gorobot.cc were minimal, I reverted them
by hand.
No reason to change everything back in grobot.`
---
robots/primotion/gorobot.cc | 13 ++++++++++++-
1 file changed, 12 insertions(+), 1 deletion(-)
diff --git a/robots/primotion/gorobot.cc b/robots/primotion/gorobot.cc
index aab5872533..78538b5b23 100755
--- a/robots/primotion/gorobot.cc
+++ b/robots/primotion/gorobot.cc
@@ -63,7 +63,10 @@ static void handle_client_packet(grobot &bot,
case MTP_COMMAND_GOTO:
/* Record our robot id. */
robot_id = mp->data.command_goto->robot_id;
+
+ // theta should be calculated by grobot; override instead
theta = mp->data.command_goto->position.theta;
+
bot.dgoto(mp->data.command_goto->position.x,
mp->data.command_goto->position.y,
mp->data.command_goto->position.theta);
@@ -79,6 +82,7 @@ static void handle_client_packet(grobot &bot,
bot.getDisplacement(mup.position.x,
mup.position.y,
mup.position.theta);
+ bot.resetPosition(); // not really needed
mup.status = MTP_POSITION_STATUS_IDLE;
if ((ump = mtp_make_packet(MTP_UPDATE_POSITION,
MTP_ROLE_RMC,
@@ -268,7 +272,14 @@ int main(int argc, char *argv[])
bot.getDisplacement(mup.position.x,
mup.position.y,
mup.position.theta);
- bot.resetPosition();
+
+ // override, for now:
+ mup.position.theta = theta;
+
+ // bot.resetPosition();
+ // No need to reset position, because it's done
+ // automatically at the start of each primitive
+
if (rc < 0) {
mup.status = MTP_POSITION_STATUS_ERROR;
}
--
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