Created a simulator-GUI that displayed the robot's position when given a log file #174
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# Conflicts: # model/src/main/scala/com/lynbrookrobotics/potassium/model/simulations/ui/Canvas.scala # model/src/test/scala/com/lynbrookrobotics/potassium/model/simulations/ui/SimulatorTest.scala
# Conflicts: # model/src/test/scala/com/lynbrookrobotics/potassium/model/examples/SimulatePurePursuit.scala
| lazy val sharedDependencies = if (System.getenv("NATIVE_TARGET") == "ARM32") { | ||
| Def.setting(Seq( | ||
| "org.typelevel" %%% "squants" % "1.3.0" | ||
| "org.typelevel" %% "squants" % "1.3.0" |
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@AnkitLakkapragada these should not have been changed; they break our ability to compile to JS and Native.
| publishMavenStyle := true | ||
| publishTo in ThisBuild := Some(Resolver.file("gh-pages-repo", baseDirectory.value / "repo")) | ||
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| libraryDependencies += "com.lihaoyi" %% "upickle" % "0.5.1" |
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This should be removed. We have dropped uPickle in favor of Argonaut, which supports all platforms we want to use.
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| class Canvas(val w: Int, val h: Int) extends JPanel { | ||
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| var xPos: Int = _ |
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Formatting: no extra lines at beginning, should be initialized to zero.
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| ((x * cos - y * sin).toInt, (x * sin + y * cos).toInt) | ||
| } | ||
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| g.setColor(Color.WHITE) | ||
| g.fillRect(0, 0, w, h) | ||
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| val simulatorGUI = new SimulatorGUI(Feet(10), Feet(10)) | ||
| simulatorGUI.startGUI() | ||
| simulatorGUI.useLogFile(new File("simlog-,(0.0 ft,0.0 ft,0.0 ft),(-0.1 ft,5.0 ft,0.0 ft),(-5.0 ft,10.0 ft,0.0 ft)")) | ||
| val timer = new Timer() |
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This timer appears to be doing nothing.
| import com.lynbrookrobotics.potassium.ClockMocking._ | ||
| import com.lynbrookrobotics.potassium.Signal | ||
| import com.lynbrookrobotics.potassium.commons.drivetrain.twoSided.TwoSidedDriveProperties | ||
| import com.lynbrookrobotics.potassium.commons.drivetrain.{ForwardPositionGains, ForwardVelocityGains, TurnPositionGains, TurnVelocityGains} |
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This file should not have been changed.
| import com.lynbrookrobotics.potassium.Signal | ||
| import com.lynbrookrobotics.potassium.commons.drivetrain.{ForwardPositionGains, ForwardVelocityGains, TurnPositionGains, TurnVelocityGains} | ||
| import com.lynbrookrobotics.potassium.commons.drivetrain.unicycle.control.purePursuit.{Auto, BackwardsOnly, ForwardBackwardMode, MathUtilities} | ||
| import com.lynbrookrobotics.potassium.commons.drivetrain.unicycle.control.purePursuit.MathUtilities |
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Similarly, this file should not have been changed.
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| } | ||
| }, 0, 100) |
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This seems kinda slow. You probably want to update every 1000/60 = 16.7 ms for 60fps rendering.
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| def moveFunction(): Unit = { | ||
| timeSlider.setValue(timeSlider.getValue + 1) |
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This seems arbitrary. You should be running the simulation in real time so the time passed when rendering matches the time passed in the log.
Create a simulator, animating the robot's position and orientation at a certain time using a slider. Also implemented a play button.