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makes Tester3D automatically zero yaw on startup

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Brendan Haines 2015-05-08 20:57:59 -06:00
parent 4c70857693
commit d725be34b6
1 changed files with 23 additions and 9 deletions
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32
Tester3D.java
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@ -58,19 +58,16 @@ class Tester3D {
while( !in.ready() ) {} while( !in.ready() ) {}
String inString; String inString;
while( !in2.hasNext() ) {}
while( !updateYPR( in2 ) ) {}
yawAdjust = rawYaw;
while( true ) { while( true ) {
//while( !in.ready() ) {} //while( !in.ready() ) {}
//inString = in.readLine(); //inString = in.readLine();
if( in2.hasNext() ) { if( in2.hasNext() ) {
if( in2.next().equals( "ypr" ) ) { updateYPR( in2 );
while( !in2.hasNext() ) {}
rawYaw = (float)( 0.01745329251 * in2.nextFloat() );
area3d.yaw = (float)( rawYaw - yawAdjust );
while( !in2.hasNext() ) {}
area3d.pitch = (float)( 0.01745329251 * in2.nextFloat() );
while( !in2.hasNext() ) {}
area3d.roll = (float)( 0.01745329251 * in2.nextFloat() );
}
} }
} }
//System.out.print("'\n"); //System.out.print("'\n");
@ -80,4 +77,21 @@ class Tester3D {
System.out.print("Whoops! It didn't work!\n"); System.out.print("Whoops! It didn't work!\n");
} }
} }
/**
* @return true on successful update, false if scan.next() is not "ypr"
*/
public static boolean updateYPR( Scanner scan) {
if( scan.next().equals( "ypr" ) ) {
while( !scan.hasNext() ) {}
rawYaw = (float)( 0.01745329251 * scan.nextFloat() );
area3d.yaw = (float)( rawYaw - yawAdjust );
while( !scan.hasNext() ) {}
area3d.pitch = (float)( 0.01745329251 * scan.nextFloat() );
while( !scan.hasNext() ) {}
area3d.roll = (float)( 0.01745329251 * scan.nextFloat() );
return true;
}
return false;
}
} }