Diff: main.cpp

Revision:

5:73cd58b58f95

Parent:

4:f9d364f10335

Child:

7:0df17f3078bc

--- a/main.cpp	Wed Apr 04 10:05:25 2012 +0000
+++ b/main.cpp	Thu Apr 05 12:29:14 2012 +0000
@@ -16,7 +16,7 @@
 
 
 // To test the time it takes for executing one loop in the main program:
-//#define LOOPTIMECOMPUTE
+#define LOOPTIMECOMPUTE
 
 // To get serial commands (for debug, or other things using a Terminal - for instance, a laser scan)
 //#define SERIAL_COMMANDS
@@ -105,21 +105,20 @@
 
     // Tested modes:
     blobconf.clearConfig();
-//   blobconf.addOneElasticLoopContractCentral();
- //  blobconf.addOneElasticContourFollowing();
+   blobconf.addOneElasticLoopContractCentral();
+//  blobconf.addOneElasticContourFollowing();
 
-  blobconf.addOneRigidLoopBouncing();
 //  blobconf.addOneRigidLoopBouncing();
-//  blobconf.addOneRigidLoopBouncing();
-//  blobconf.addOneRigidLoopBouncing();
-// blobconf.addOneRigidLoopBouncing();
+// blobconf.addOneRigidLoopFollowing();
 
-// blobconf.addOneRigidLoopFollowing();
+//blobconf.addOneRigidLoopTest();
 
     // Important: first, set the initial position for all the blobs, this will be useful because
     // when changing modes we can use the previous central position...
     // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y);
 
+// draw the config once befor activating the laser buffer:
+    blobconf.draw();
 
     // RENRERER (attn: setConfigToRender must be called when the blobconf is set - i.e., the number of blobs and number of points/blob is fixed)
     lsr.setConfigToRender(&blobconf);
@@ -200,6 +199,7 @@
             sendMes.setTopAddress("/timeloop");
             sendMes.setSubAddress("/");
             long x=(long)(int(measureLoopPeriod.read_us()/1000.0));
+           // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size());
             sendMes.setArgs( "i", &x);
             osc.sendOsc( &sendMes );
             timeCounterNum=0;