ROBOT_DEMO: fix wake lock and revert speed computation change

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
index 008f2457f54780efce9917db3e315d6ed0ddea7f..f74ab0f943a4128502e1e1c976fa22229fca1f7e 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
@@ -159,8 +159,7 @@ public class MainActivity extends Activity {
         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
         mWakeLock = mPowerManager.newWakeLock(
                        PowerManager.SCREEN_BRIGHT_WAKE_LOCK
-                       | PowerManager.ACQUIRE_CAUSES_WAKEUP
-                       | PowerManager.ON_AFTER_RELEASE,
+                       | PowerManager.ACQUIRE_CAUSES_WAKEUP,
                        getClass().getName());
 
         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java
index e8b07f89b983bbab4aeea3560560ccd41d96a12b..b6e475f9c4a135ccf5029751c4261689152fc960 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java
@@ -14,7 +14,7 @@ public class MotionSpeedPublish implements Runnable {
        
        public static final int VMAX = 16000;
        public static final double r = 0.15;
-       public final float alpha = 0.8f;
+       public final float alpha = 0.75f;
        
        private short[] speed = new short[2]; 
        private boolean isCancelled = true;
@@ -60,8 +60,8 @@ public class MotionSpeedPublish implements Runnable {
                }
                omega *= 2;
                 
-               speed[0] = (short)(-(v + (v>0 ? -r*omega : r*omega))*VMAX);
-               speed[1] = (short)(-(v - (v>0 ? -r*omega : r*omega))*VMAX);
+               speed[0] = (short)(-((v + r*omega))*VMAX);
+               speed[1] = (short)(-(v - r*omega)*VMAX);
        }
        
        public void start() {