From: Martin Vajnar <martin.vajnar@gmail.com>
Date: Tue, 27 Aug 2013 13:14:45 +0000 (+0200)
Subject: ROBOT_DEMO: fix wake lock and revert speed computation change
X-Git-Tag: v0.3.4~44
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/orte.git/commitdiff_plain/f116dfa3384626441832ac5ecef7b4851d01cf0b

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 008f245..f74ab0f 100644
--- 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 e8b07f8..b6e475f 100644
--- 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() {