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Patch 1 #2

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Patch 1 #2

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00c4c16
Update fre.py
TeaPackCZ Jun 10, 2014
76a1430
Update fre.py
TeaPackCZ Jun 11, 2014
0ea9688
Update fre.py
TeaPackCZ Jun 11, 2014
8520c88
Update fre.py
TeaPackCZ Jun 11, 2014
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19 changes: 14 additions & 5 deletions fre.py
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Original file line number Diff line number Diff line change
Expand Up @@ -560,18 +560,27 @@ def crossRows( self, row, num, rowsOnLeft ):
(ax,ai), (bx,bi) = (bx,bi), (ax,ai)
p = self.robot.localisation.pose()
A = combinedPose( (p[0], p[1], p[2]+math.radians(135-5*ai) ), (ax,0,0) )
A.appends(ai)
B = combinedPose( (p[0], p[1], p[2]+math.radians(135-5*bi) ), (bx,0,0) )
B.appends(bi)
if lastA == None:
ends.extend( [A,B] )
lastA, lastB = A, B
print "DIST", distance(lastA, A), distance(lastB, B), distance(lastB,A)
if distance(lastB,A) < 0.2:
print "DIST", distance(lastA[:2], A[:2]), distance(lastB[:2], B[:2]), distance(lastB[:2],A[:2])
for endrow in ends: ## actualization of ends with angle to the that end
if distance(endrow[:2],A[:2])<0.2:
endrow=A
else if distance(endrow[:2],B[:2])<0.2:
endrow=B
if distance(lastB[:2],A[:2]) < 0.2:
print "NEXT ROW"
ends.append( B ) # new one
ends[-3][3]=-9 # setting angle to old LastA to -180 deg ((180-135)/5)
lastA, lastB = A, B
if len(ends) > num + 1:
break
line = Line(A,B) # going through the ends of rows
if len(ends)>num:
if((ends[num][3] < 11)&&rowsOnLeft) || ((ends[num][3] > 43) && !rowsOnLeft)):
break
line = Line(A[:2],B[:2]) # going through the ends of rows
A2 = combinedPose( (A[0], A[1], line.angle), (0, offset, 0) )
B2 = combinedPose( (B[0], B[1], line.angle), (2.0, offset, 0) )
line = Line(A2, B2)
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