robomon: Remove motor controls

These controls were never used and only took up screen place.
On some systems (Filip), they made the rest of the screen unreadable.

It was only commented out, because we may add this functionality later
again, but to a different tab.

diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index 1f4dd687b29e4dc51378a15c73ce80feb3d12b68..3ee3617baf718a3291848e1dab5b534f6947fb5d 100644 (file)
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -223,10 +223,10 @@ void RobomonAtlantis::createActuatorsGroupBox()
        actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
        QHBoxLayout *layout = new QHBoxLayout();
 
-       createMotorsGroupBox();
+       //createMotorsGroupBox();
 
        layout->setAlignment(Qt::AlignLeft);
-       layout->addWidget(enginesGroupBox);
+       //layout->addWidget(enginesGroupBox);
        actuatorsGroupBox->setLayout(layout);
 }
 
@@ -267,6 +267,7 @@ void RobomonAtlantis::createPowerGroupBox()
        powerGroupBox->setLayout(layout);
 }
 
+#if 0
 void RobomonAtlantis::createMotorsGroupBox()
 {
        enginesGroupBox = new QGroupBox(tr("Motors"));
@@ -304,6 +305,7 @@ void RobomonAtlantis::createMotorsGroupBox()
        layout->addWidget(stopMotorsPushButton);
        enginesGroupBox->setLayout(layout);
 }
+#endif
 
 void RobomonAtlantis::createRobots()
 {
@@ -358,12 +360,12 @@ void RobomonAtlantis::createActions()
                        this, SLOT(setVoltage80(int)));
 
        /* motors */
-       connect(leftMotorSlider, SIGNAL(valueChanged(int)), 
-                       this, SLOT(setLeftMotor(int)));
-       connect(rightMotorSlider, SIGNAL(valueChanged(int)), 
-                       this, SLOT(setRightMotor(int)));
-       connect(stopMotorsPushButton, SIGNAL(clicked()), 
-                       this, SLOT(stopMotors()));
+//     connect(leftMotorSlider, SIGNAL(valueChanged(int)), 
+//                     this, SLOT(setLeftMotor(int)));
+//     connect(rightMotorSlider, SIGNAL(valueChanged(int)), 
+//                     this, SLOT(setRightMotor(int)));
+//     connect(stopMotorsPushButton, SIGNAL(clicked()), 
+//                     this, SLOT(stopMotors()));
 
        connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
        
@@ -403,43 +405,44 @@ void RobomonAtlantis::setVoltage80(int state)
                orte.pwr_ctrl.voltage80 = false;
 }
 
-void RobomonAtlantis::setLeftMotor(int value)
-{
-       short int leftMotor;
-       short int rightMotor;
+// void RobomonAtlantis::setLeftMotor(int value)
+// {
+//     short int leftMotor;
+//     short int rightMotor;
        
-       if(bothMotorsCheckBox->isChecked())
-               rightMotorSlider->setValue(value);
+//     if(bothMotorsCheckBox->isChecked())
+//             rightMotorSlider->setValue(value);
 
-       leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
-       rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
+//     leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
+//     rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
        
-       orte.motion_speed.left = leftMotor;
-       orte.motion_speed.right = rightMotor;
+//     orte.motion_speed.left = leftMotor;
+//     orte.motion_speed.right = rightMotor;
        
-}
+// }
 
-void RobomonAtlantis::setRightMotor(int value)
-{
-       short int leftMotor;
-       short int rightMotor;
+// void RobomonAtlantis::setRightMotor(int value)
+// {
+//     short int leftMotor;
+//     short int rightMotor;
        
-       if(bothMotorsCheckBox->isChecked())
-               leftMotorSlider->setValue(value);
+//     if(bothMotorsCheckBox->isChecked())
+//             leftMotorSlider->setValue(value);
 
-       leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
-       rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
+//     leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
+//     rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
        
-       orte.motion_speed.left = leftMotor;
-       orte.motion_speed.right = rightMotor;
+//     orte.motion_speed.left = leftMotor;
+//     orte.motion_speed.right = rightMotor;
        
-}
+// }
+
+// void RobomonAtlantis::stopMotors()
+// {
+//     leftMotorSlider->setValue(0);
+//     rightMotorSlider->setValue(0);
+// }
 
-void RobomonAtlantis::stopMotors()
-{
-       leftMotorSlider->setValue(0);
-       rightMotorSlider->setValue(0);
-}
 void RobomonAtlantis::useOpenGL(bool use)
 {
        playgroundSceneView->useOpenGL(&use);
@@ -650,37 +653,37 @@ bool RobomonAtlantis::event(QEvent *event)
 
 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 {
-       double peak, gain;
+//     double peak, gain;
 
        if (event->isAutoRepeat()) {
                switch (event->key()) {
-                       case Qt::Key_Down:
-                               peak = leftMotorSlider->minimum()/2;
-                               if (leftMotorValue < peak ||
-                                       rightMotorValue < peak)
-                                       gain = 1.01;
-                               else
-                                       gain = 1.3;
-                               leftMotorValue *= gain;
-                               rightMotorValue *= gain;
-                               leftMotorSlider->setValue((int)leftMotorValue);
-                               rightMotorSlider->setValue((int)rightMotorValue);
-                               break;
-
-                       case Qt::Key_Up:
-                       case Qt::Key_Left:
-                       case Qt::Key_Right:
-                               peak = leftMotorSlider->maximum()/2;
-                               if (leftMotorValue > peak ||
-                                       rightMotorValue > peak)
-                                       gain = 1.01;
-                               else
-                                       gain = 1.3;
-                               leftMotorValue *= gain;
-                               rightMotorValue *= gain;
-                               leftMotorSlider->setValue((int)leftMotorValue);
-                               rightMotorSlider->setValue((int)rightMotorValue);
-                               break;
+//                     case Qt::Key_Down:
+//                             peak = leftMotorSlider->minimum()/2;
+//                             if (leftMotorValue < peak ||
+//                                     rightMotorValue < peak)
+//                                     gain = 1.01;
+//                             else
+//                                     gain = 1.3;
+//                             leftMotorValue *= gain;
+//                             rightMotorValue *= gain;
+//                             leftMotorSlider->setValue((int)leftMotorValue);
+//                             rightMotorSlider->setValue((int)rightMotorValue);
+//                             break;
+
+//                     case Qt::Key_Up:
+//                     case Qt::Key_Left:
+//                     case Qt::Key_Right:
+//                             peak = leftMotorSlider->maximum()/2;
+//                             if (leftMotorValue > peak ||
+//                                     rightMotorValue > peak)
+//                                     gain = 1.01;
+//                             else
+//                                     gain = 1.3;
+//                             leftMotorValue *= gain;
+//                             rightMotorValue *= gain;
+//                             leftMotorSlider->setValue((int)leftMotorValue);
+//                             rightMotorSlider->setValue((int)rightMotorValue);
+//                             break;
 
                        default:
                                event->ignore();
@@ -690,36 +693,36 @@ void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
        }
 
        switch (event->key()) {
-               case Qt::Key_Up:
-                       leftMotorValue = 1;
-                       rightMotorValue = 1;
-                       bothMotorsCheckBox->setChecked(true);
-                       leftMotorSlider->setValue((int)leftMotorValue);
-                       setLeftMotor((int)leftMotorValue);
-                       break;
-               case Qt::Key_Down:
-                       leftMotorValue = -1;
-                       rightMotorValue = -1;
-                       bothMotorsCheckBox->setChecked(true);
-                       leftMotorSlider->setValue((int)leftMotorValue);
-                       setLeftMotor((int)leftMotorValue);
-                       break;
-               case Qt::Key_Left:
-                       leftMotorValue = -1;
-                       rightMotorValue = 1;
-                       leftMotorSlider->setValue((int)leftMotorValue);
-                       rightMotorSlider->setValue((int)rightMotorValue);
-                       setLeftMotor((int)leftMotorValue);
-                       setRightMotor((int)leftMotorValue);
-                       break;
-               case Qt::Key_Right:
-                       leftMotorValue = 1;
-                       rightMotorValue = -1;
-                       leftMotorSlider->setValue((int)leftMotorValue);
-                       rightMotorSlider->setValue((int)rightMotorValue);
-                       setLeftMotor((int)leftMotorValue);
-                       setRightMotor((int)rightMotorValue);
-                       break;
+//             case Qt::Key_Up:
+//                     leftMotorValue = 1;
+//                     rightMotorValue = 1;
+//                     bothMotorsCheckBox->setChecked(true);
+//                     leftMotorSlider->setValue((int)leftMotorValue);
+//                     setLeftMotor((int)leftMotorValue);
+//                     break;
+//             case Qt::Key_Down:
+//                     leftMotorValue = -1;
+//                     rightMotorValue = -1;
+//                     bothMotorsCheckBox->setChecked(true);
+//                     leftMotorSlider->setValue((int)leftMotorValue);
+//                     setLeftMotor((int)leftMotorValue);
+//                     break;
+//             case Qt::Key_Left:
+//                     leftMotorValue = -1;
+//                     rightMotorValue = 1;
+//                     leftMotorSlider->setValue((int)leftMotorValue);
+//                     rightMotorSlider->setValue((int)rightMotorValue);
+//                     setLeftMotor((int)leftMotorValue);
+//                     setRightMotor((int)leftMotorValue);
+//                     break;
+//             case Qt::Key_Right:
+//                     leftMotorValue = 1;
+//                     rightMotorValue = -1;
+//                     leftMotorSlider->setValue((int)leftMotorValue);
+//                     rightMotorSlider->setValue((int)rightMotorValue);
+//                     setLeftMotor((int)leftMotorValue);
+//                     setRightMotor((int)rightMotorValue);
+//                     break;
                default:
                        event->ignore();
                        break;
@@ -735,16 +738,16 @@ void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
        }
 
        switch (event->key()) {
-               case Qt::Key_Up:
-               case Qt::Key_Down:
-               case Qt::Key_Left:
-               case Qt::Key_Right:
-                       leftMotorValue = 0;
-                       rightMotorValue = 0;
-                       bothMotorsCheckBox->setChecked(false);
-                       leftMotorSlider->setValue((int)leftMotorValue);
-                       rightMotorSlider->setValue((int)rightMotorValue);
-                       break;
+//             case Qt::Key_Up:
+//             case Qt::Key_Down:
+//             case Qt::Key_Left:
+//             case Qt::Key_Right:
+//                     leftMotorValue = 0;
+//                     rightMotorValue = 0;
+//                     bothMotorsCheckBox->setChecked(false);
+//                     leftMotorSlider->setValue((int)leftMotorValue);
+//                     rightMotorSlider->setValue((int)rightMotorValue);
+//                     break;
                default:
                        event->ignore();
                        break;

diff --git a/src/robomon/RobomonAtlantis.h b/src/robomon/RobomonAtlantis.h
index 4134a50972732e972b8267efdb7a15c2f040fce2..be41794707eab58c932c97d1954b73530c399dd4 100644 (file)
--- a/src/robomon/RobomonAtlantis.h
+++ b/src/robomon/RobomonAtlantis.h
@@ -68,9 +68,9 @@ private slots:
        void setVoltage33(int state);
        void setVoltage50(int state);
        void setVoltage80(int state);
-       void setLeftMotor(int value);
-       void setRightMotor(int value);
-       void stopMotors();
+/*     void setLeftMotor(int value); */
+/*     void setRightMotor(int value); */
+/*     void stopMotors(); */
        void paintMap();
        void setSimulation(int state);
        void setObstacleSimulation(int state);
@@ -115,7 +115,6 @@ private:
        QGroupBox *miscGroupBox;
        QGroupBox *debugGroupBox;
        QGroupBox *actuatorsGroupBox;
-       QGroupBox *enginesGroupBox;
        QGroupBox *powerGroupBox;
        QGroupBox *fsmGroupBox;
 
@@ -136,10 +135,10 @@ private:
        bool debugWindowEnabled;
 
        /* actuators */
-       QSlider *leftMotorSlider;
-       QSlider *rightMotorSlider;
-       QCheckBox *bothMotorsCheckBox;
-       QPushButton *stopMotorsPushButton;
+/*     QSlider *leftMotorSlider; */
+/*     QSlider *rightMotorSlider; */
+/*     QCheckBox *bothMotorsCheckBox; */
+/*     QPushButton *stopMotorsPushButton; */
 
        /* power management */
        QCheckBox *voltage33CheckBox;