Diff: rigidLoop.cpp

Revision:

48:7633d8e7b0d3

Parent:

47:2312a8dc9658

--- a/rigidLoop.cpp	Tue Apr 01 14:57:37 2014 +0000
+++ b/rigidLoop.cpp	Tue Dec 02 04:28:42 2014 +0000
@@ -86,7 +86,7 @@
             setColor(0x04);
              blueTouch=false;
 
-            saccadeRadius=45;//+rand()%20;
+            saccadeRadius=50;//+rand()%20;
             // default (initial) shape (the scafold belongs to the base class):
             bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
 
@@ -144,7 +144,7 @@
             blueTouch=false;
             
             // default (initial) shape (the scafold belongs to the base class):
-            saccadeRadius=25;
+            saccadeRadius=18;
             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).
@@ -203,7 +203,7 @@
             setColor(0x05);
             blueTouch=false;
             
-            saccadeRadius=30;//+rand()%20;
+            saccadeRadius=50;//+rand()%20;
             // default (initial) shape (the scafold belongs to the base class):
             bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
 
@@ -530,7 +530,7 @@
             // ================================================================
         case  SPOT_TRACK:
         if (displaySensingBuffer.lightTouched) {
-            centerMass.pos +=recenteringVectorLoop;
+            centerMass.pos +=recenteringVectorLoop*0.6;
             centerMass.posOld=centerMass.pos; // this is necessary to compute bouceOffWalls using Verlet method... (MAKE A new variable INTEGRATION METHOD?)
             centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
             
@@ -542,7 +542,7 @@
 
             } else if (displaySensingBuffer.lightState==ALL_DARK) { // not touched nor on something white: SEARCH MODE
                 saccadeRadius+=20;
-                if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
+                if (saccadeRadius>200) saccadeRadius=saccadeRadius_initial;
                 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
                 justSearched=true;
             }