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add execute stty, set realy velosity of move and rotation

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This commit is contained in:
MaximZaitsev
2016-07-29 15:13:57 +03:00
parent 9f9e474df1
commit 1e2815718e
1 changed files with 25 additions and 15 deletions
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car_srv/kotlinSrv/src/Car.kt
+25 -15
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@@ -7,9 +7,10 @@ import carControl.RouteExecutorImpl.MoveDirection
*/
class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
val exec: dynamic
val velocityMove = 0.1
val velocityRotation = 5.0
val velocityMove = 0.3278
val velocityRotation = 12.3
//position
var x: Double
@@ -27,6 +28,7 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
this.x = 0.0
this.y = 0.0
this.angle = 0.0
this.exec = require("child_process").exec
}
fun stopCar() {
@@ -59,21 +61,29 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
fun move(moveDirection: MoveDirection, value: Double, callBack: () -> Unit) {
//value - angle for rotation command and distance for forward/backward command
this.moveDirection = moveDirection
when (moveDirection) {
MoveDirection.STOP -> controller.stopCar()
MoveDirection.FORWARD -> controller.moveCarForward()
MoveDirection.BACKWARD -> controller.moveCarBackward()
MoveDirection.LEFT -> controller.moveCarLeft()
MoveDirection.RIGHT -> controller.moveCarRight()
}
if (moveDirection != MoveDirection.STOP) {
if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
controller.delay(getTimeForMoving(value, velocityMove), callBack)
} else {
controller.delay(getTimeForMoving(value, velocityRotation), callBack)
val functionAfterStty = { error: dynamic, stdOut: dynamic, stdErr: dynamic ->
if (error != null) {
println("error in execute stty\n" + error.toString())
}
this.moveDirection = moveDirection
when (moveDirection) {
MoveDirection.STOP -> controller.stopCar()
MoveDirection.FORWARD -> controller.moveCarForward()
MoveDirection.BACKWARD -> controller.moveCarBackward()
MoveDirection.LEFT -> controller.moveCarLeft()
MoveDirection.RIGHT -> controller.moveCarRight()
}
if (moveDirection != MoveDirection.STOP) {
if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
controller.delay(getTimeForMoving(value, velocityMove), callBack)
} else {
controller.delay(getTimeForMoving(value, velocityRotation), callBack)
}
}
}
exec("stty -F ${MicroController.instance.transportFilePath} raw -echo -echoe -echok", functionAfterStty)
}
fun getTimeForMoving(value: Double, velocity: Double): Int {