Diff: rigidLoop.cpp

Revision:

47:2312a8dc9658

Parent:

46:90516893793a

Child:

48:7633d8e7b0d3

--- a/rigidLoop.cpp	Tue Apr 01 11:34:37 2014 +0000
+++ b/rigidLoop.cpp	Tue Apr 01 14:57:37 2014 +0000
@@ -12,11 +12,9 @@
 
 }
 
-void rigidLoop::showParameters() {
+void rigidLoop::showChildParameters() {
     //pc.printf("Blob Name: 
-    pc.printf("Mirror delay :%d\n", displaySensingBuffer.delayMirrorSamples);
-    pc.printf("Angle correction force :%d\n", angleCorrectionForceLoop);
-    pc.printf("Integration Step :%d\n", angleCorrectionForceLoop);
+    pc.printf("Integration Step :%f\n", integrationStep);
     }
 
 // Note: this method is hidding the abstract method in the base class... and has DIFFERENT parameters than another child would have (enum type).
@@ -30,7 +28,7 @@
     startCenter=_initPos;
     startSpeed=_initSpeed;
     
-    integrationStep=0.23;
+    integrationStep=0.30;//0.23;
 
     // (2) Initialize common variables of all blobs (base class):
     //initCommonVariables();
@@ -76,7 +74,7 @@
             // 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(1);
-            angleCorrectionForceLoop=0;//360.0/bluePrint.scafold.size()/2; // in DEGREES
+            angleCorrectionForceLoop=-39;//360.0/bluePrint.scafold.size()/2; // in DEGREES
 
             break;
 
@@ -103,7 +101,7 @@
             // 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(2);
-            angleCorrectionForceLoop=-35;// in degrees
+            angleCorrectionForceLoop=-39;// in degrees
 
             break;
 
@@ -132,7 +130,7 @@
             // 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=-39;// in degrees
 
             break;
 
@@ -146,7 +144,7 @@
             blueTouch=false;
             
             // default (initial) shape (the scafold belongs to the base class):
-            saccadeRadius=30;//23;
+            saccadeRadius=25;
             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).
@@ -167,7 +165,7 @@
             // 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(1); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
-            angleCorrectionForceLoop= -5;// good for ONE spot: -5;// in DEGREES
+            angleCorrectionForceLoop= -39;// good for ONE spot: -5;// in DEGREES
 
             break;
 
@@ -193,8 +191,8 @@
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             // 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=-15;// in degrees
+            displaySensingBuffer.setDelayMirrors(1);
+            angleCorrectionForceLoop=-39;// in degrees
 
             break;
 
@@ -223,9 +221,8 @@
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             // 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
-
+            displaySensingBuffer.setDelayMirrors(1);
+            angleCorrectionForceLoop=-39;// in degrees
             break;
 
         case SPOT_PACMAN:
@@ -259,8 +256,8 @@
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             // 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
+            displaySensingBuffer.setDelayMirrors(1);
+            angleCorrectionForceLoop=-39;// in degrees
 
             break;
 
@@ -298,8 +295,8 @@
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             // 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
+            displaySensingBuffer.setDelayMirrors(1);
+            angleCorrectionForceLoop=-39;// in degrees
 
             break;
 
@@ -331,8 +328,8 @@
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             // 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
+            displaySensingBuffer.setDelayMirrors(1);
+            angleCorrectionForceLoop=-39;// in degrees
 
             break;
 
@@ -344,14 +341,14 @@
             setColor(0x04);
             blueTouch=false;
             
-            saccadeRadius=20;//+rand()%20;
+            saccadeRadius=28;//+rand()%20;
             // default (initial) shape (the scafold belongs to the base class):
             bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos, int _numScafoldPoints);
 
             // Numeric parameters for the simulated mechanical system:
             massCenter=0.0005;//+0.000005*(rand()%100);
             dampMotionCenterMass=0.001;//0.00015;//00003;
-            factorBouncingForce=0.0015; // this is because we will use a force on the central mass
+            factorBouncingForce=0.0001;//0.00015; // this is because we will use a force on the central mass
 
             // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
             createLoopFromScafold();
@@ -359,8 +356,8 @@
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             // 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
+            displaySensingBuffer.setDelayMirrors(1);
+            angleCorrectionForceLoop=-39;// in degrees
 
             break;
             default:
@@ -908,7 +905,7 @@
 
             // bubble chamber? LORENTZ FORCE:
             vector2Df speedmass=centerMass.getSpeed();
-            centerMass.addForce( speedmass.getRotatedDeg(90)*0.000002*speedContourFollowing);
+            centerMass.addForce( speedmass.getRotatedDeg(90)*0.000005*speedContourFollowing);//0.000002*speedContourFollowing);
 
             // update dynamics for the central mass:
 #ifndef VERLET_METHOD