Diff: rigidLoop.cpp

Revision:

44:46e25fa1669b

Parent:

35:35af5086ab4f

Child:

45:a3b984a79d5d

--- a/rigidLoop.cpp	Fri Mar 28 10:25:06 2014 +0000
+++ b/rigidLoop.cpp	Mon Mar 31 10:57:35 2014 +0000
@@ -49,13 +49,13 @@
             sprintf(spotName,"spot_test");
 
             //setColor(0x07);//0x04+0x02>>i);
-            setColor(0x04);
+            setColor(0x04); // only red?
 
             saccadeRadius=250;
 
             // default (initial) shape (the scafold belongs to the base class):
             // NOTE: number of points in the case of need to compute recentering vector needs to be EVEN
-            bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 16); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
+            bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 20); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
 
             massCenter=0.01;
             dampMotionCenterMass=0.001;
@@ -132,7 +132,7 @@
             setColor(0x04); //only R
 
             // default (initial) shape (the scafold belongs to the base class):
-            saccadeRadius=23;
+            saccadeRadius=30;//23;
             bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 20); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
 
             // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
@@ -152,7 +152,7 @@
             // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop.
             // BUT because we may want to see the blue laser where there is dark zone, then we would try to adjust mirror delay as close as possible to the
             // optimal value, and finish the correction (fine tunned) with the angle correction (only possible in the case of circular rigid blob).
-            displaySensingBuffer.setDelayMirrors(3); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
+            displaySensingBuffer.setDelayMirrors(1); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
             angleCorrectionForceLoop= -5;// good for ONE spot: -5;// in DEGREES
 
             break;
@@ -179,7 +179,7 @@
             // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
             // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
             displaySensingBuffer.setDelayMirrors(3);
-            angleCorrectionForceLoop=-5;// in degrees
+            angleCorrectionForceLoop=-15;// in degrees
 
             break;
 
@@ -445,7 +445,7 @@
     blobWallCollision=centerMass.bWallCollision;
 
     // (II) Process sensing buffer and compute light forces:
-    displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
+    // displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
 
     // (III) Compute recentering vector (the "penetration vector in fact"), using "first order moment":
     // ATTENTION!! for this simple method (of "first order moment") to work, we have either to have numPoints very large, OR an EVEN quantity - so the
@@ -475,7 +475,7 @@
         angleRecenteringVector=0;
     } else {
         unitTowardsLight=momentVector/(-1.0*momentNorm);
-        // Apply correction angle (delay mirrors):
+        // Apply correction angle (NOT delay mirrors):
         unitTowardsLight.rotateDeg(angleCorrectionForceLoop);
 
         // Compute "recenteringVectorLoop": the vector making the spot goes completely AWAY form the dark zone