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Updates from Alex for his motion chair project.

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curt 2000-06-15 22:31:40 +00:00
parent fb8baab76d
commit fa3cbdb2f8
2 changed files with 13 additions and 11 deletions
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23
src/Network/ray.cxx
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@ -37,6 +37,8 @@ FGRAY::FGRAY() {
chair_heading = 0.0; chair_heading = 0.0;
chair_vertical[0] = 0.0; chair_vertical[0] = 0.0;
chair_vertical[1] = 0.0; chair_vertical[1] = 0.0;
// chair_FILE = stderr;
chair_FILE = 0;
} }
@ -86,7 +88,7 @@ bool FGRAY::gen_message() {
lin_acc = f->get_A_Y_pilot() * 0.3; lin_acc = f->get_A_Y_pilot() * 0.3;
break; break;
case 1: ang_pos = f->get_Theta(); case 1: ang_pos = f->get_Theta();
lin_acc =-f->get_A_X_pilot() * 0.3; lin_acc = f->get_A_X_pilot() * 0.3;
break; break;
case 2: ang_pos = f->get_Psi(); case 2: ang_pos = f->get_Psi();
lin_acc = grav_acc - vert_acc; lin_acc = grav_acc - vert_acc;
@ -106,9 +108,11 @@ bool FGRAY::gen_message() {
} }
/* Tell interested parties what the situation is */ /* Tell interested parties what the situation is */
printf ( "RAY %s, %8.3f rad %8.3f m/s/s =>", if (chair_FILE) {
((axis==0)?"Roll ":((axis==1)?"Pitch":"Yaw ")), fprintf ( chair_FILE, "RAY %s, %8.3f rad %8.3f m/s/s =>",
ang_pos, lin_acc ); ((axis==0)?"Roll ":((axis==1)?"Pitch":"Yaw ")),
ang_pos, lin_acc );
}
/* The upward direction and axis are special cases */ /* The upward direction and axis are special cases */
if ( axis == 2 ) if ( axis == 2 )
@ -153,8 +157,10 @@ bool FGRAY::gen_message() {
} }
/* Tell interested parties what we'll do */ /* Tell interested parties what we'll do */
printf ( " %8.3f deg %8.3f cm.\n", if ( chair_FILE ) {
ang_pos * 60.0, lin_pos * 100.0 ); fprintf ( chair_FILE, " %8.3f deg %8.3f cm.\n",
ang_pos * 60.0, lin_pos * 100.0 );
}
/* Write the resulting numbers to the command buffer */ /* Write the resulting numbers to the command buffer */
/* The first pass number is linear, second pass is angle */ /* The first pass number is linear, second pass is angle */
@ -180,11 +186,6 @@ bool FGRAY::gen_message() {
/* Tell the caller what we did */ /* Tell the caller what we did */
length = 18; length = 18;
/* Log bytes for debug */
// for ( axis = 0; axis < length; axis++ )
// printf ( "%02x ", (unsigned int) (unsigned char) buf[axis] );
// printf ( "\n" );
return true; return true;
} }

1
src/Network/ray.hxx
View file

@ -43,6 +43,7 @@ class FGRAY : public FGProtocol {
double chair_rising; double chair_rising;
double chair_height; double chair_height;
double chair_vertical[2]; double chair_vertical[2];
FILE *chair_FILE;
public: public: