Revision 48:7633d8e7b0d3, committed 2014-12-02

Comitter:

mbedalvaro

Date:

Tue Dec 02 04:28:42 2014 +0000

Parent:

47:2312a8dc9658

Commit message:

this is the working version of the skin games sowtware (aka, scorelight but with pre-determined "games")

Changed in this revision

--- a/blobConfig.cpp	Tue Apr 01 14:57:37 2014 +0000
+++ b/blobConfig.cpp	Tue Dec 02 04:28:42 2014 +0000
@@ -81,7 +81,7 @@
             for (i=0; i<numblobs ; i++) {
                 float anglaux=1.0*i/numblobs*2*PI;
                 addOneRigidLoopBouncing(vector2Df(CENTER_AD_MIRROR_X+200*cos(anglaux), CENTER_AD_MIRROR_Y+200*sin(anglaux)), 
-                                        vector2Df(cos(anglaux),sin(anglaux))*10);
+                                        vector2Df(5*cos(anglaux),sin(anglaux))*10);
             }
         break;
         case VERTICAL_PINBALL_GAME:

--- a/classLaserSensingTrajectory.h	Tue Apr 01 14:57:37 2014 +0000
+++ b/classLaserSensingTrajectory.h	Tue Dec 02 04:28:42 2014 +0000
@@ -14,7 +14,7 @@
 //(1) Autothreshold:
 // CONTRAST RATIO to compute autoThreshold:
 // MIN_CONTRAST_RATIO is the minimum contrast between max and min intensity necessary to "accept" a black and white zone:
-#define MIN_CONTRAST_RATIO 1.8//1.7 // 3 seems good when lookup table does not work 
+#define MIN_CONTRAST_RATIO 2.0//2.5//1.6//1.8//1.7 // 3 seems good when lookup table does not work 
 // THRESHOLD_FACTOR is where the threshold is actually placed between the min and max detected (with good contrast):
 #define THRESHOLD_FACTOR 0.5 //0.75 // 2/3 or 1/2 are good values 
 #define MIN_ACCEPTABLE_INTENSITY 16 // if maxI< this then we consider all the saccade on something black

--- a/hardwareIO/hardwareIO.h	Tue Apr 01 14:57:37 2014 +0000
+++ b/hardwareIO/hardwareIO.h	Tue Dec 02 04:28:42 2014 +0000
@@ -36,8 +36,8 @@
 
 //**** MIRRORS: 
 //The DAC is 12 bytes capable (Max=4096), but we will limit this a little. 
-#define MAX_AD_MIRRORS 3845 // note: 4095 is the absolute maximum for the SPI voltage (5V). This is for checking hardware compliance, but max and min angles can be defined for X and Y in each LivingSpot instance.
-#define MIN_AD_MIRRORS 250  // note: 0 is 0 volts for the SPI voltage. 
+#define MAX_AD_MIRRORS 4000//3845 // note: 4095 is the absolute maximum for the SPI voltage (5V). This is for checking hardware compliance, but max and min angles can be defined for X and Y in each LivingSpot instance.
+#define MIN_AD_MIRRORS 155//250  // note: 0 is 0 volts for the SPI voltage. 
 // We assume that the center of the mirror is at MAX_AD_MIRRORS/2 = 2000:
 #define CENTER_AD_MIRROR_X 2047 // This MUST BE the direction of the photodetector. 
 #define CENTER_AD_MIRROR_Y 2047 // This MUST BE the direction of the photodetector.

--- a/myVectorClass.h	Tue Apr 01 14:57:37 2014 +0000
+++ b/myVectorClass.h	Tue Dec 02 04:28:42 2014 +0000
@@ -405,7 +405,7 @@
 inline float vector2D<T>::angleDeg( const vector2D<T>& vec ) const {
     return (float)(atan2( x*vec.y-y*vec.x, x*vec.x + y*vec.y )*RAD_TO_DEG); 
 }
-
+    
 template <class T>
 inline float vector2D<T>::angleRad( const vector2D<T>& vec ) const {
     return atan2( x*vec.y-y*vec.x, x*vec.x + y*vec.y );

--- 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;
             }