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Commit f2ae0172 authored by Sergi Hernandez's avatar Sergi Hernandez
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Modified the LED's areas to match the real car. 

Using the maximum intensity of the LED's.
parent 8bfb3bcc
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src/adc_car_lights_driver.cpp
+ 46
− 46
View file @ f2ae0172
......@@ -26,48 +26,48 @@ bool AdcCarLightsDriver::openDriver(void)
// whole front area
this->whole_front_area.min_row=0;
this->whole_front_area.max_row=0;
this->whole_front_area.min_col=0;
this->whole_front_area.max_col=7;
this->whole_front_area.min_col=16;
this->whole_front_area.max_col=23;
// front right area
this->front_right_area.min_row=0;
this->front_right_area.max_row=0;
this->front_right_area.min_col=0;
this->front_right_area.max_col=3;
this->front_right_area.min_col=16;
this->front_right_area.max_col=19;
// front left area
this->front_left_area.min_row=0;
this->front_left_area.max_row=0;
this->front_left_area.min_col=4;
this->front_left_area.max_col=7;
this->front_left_area.min_col=20;
this->front_left_area.max_col=23;
// rear left area
this->rear_left_area.min_row=0;
this->rear_left_area.max_row=0;
this->rear_left_area.min_col=8;
this->rear_left_area.max_col=11;
this->rear_left_area.min_col=0;
this->rear_left_area.max_col=3;
// rear center area
this->rear_center_area.min_row=0;
this->rear_center_area.max_row=0;
this->rear_center_area.min_col=12;
this->rear_center_area.max_col=19;
this->rear_center_area.min_col=4;
this->rear_center_area.max_col=11;
// rear middle left area
this->rear_middle_left_area.min_row=0;
this->rear_middle_left_area.max_row=0;
this->rear_middle_left_area.min_col=12;
this->rear_middle_left_area.max_col=15;
this->rear_middle_left_area.min_col=4;
this->rear_middle_left_area.max_col=7;
// rear middle right area
this->rear_middle_right_area.min_row=0;
this->rear_middle_right_area.max_row=0;
this->rear_middle_right_area.min_col=16;
this->rear_middle_right_area.max_col=19;
this->rear_middle_right_area.min_col=8;
this->rear_middle_right_area.max_col=11;
// rear right area
this->rear_right_area.min_row=0;
this->rear_right_area.max_row=0;
this->rear_right_area.min_col=20;
this->rear_right_area.max_col=23;
this->rear_right_area.min_col=12;
this->rear_right_area.max_col=15;
// whole rear area
this->whole_rear_area.min_row=0;
this->whole_rear_area.max_row=0;
this->whole_rear_area.min_col=8;
this->whole_rear_area.max_col=23;
this->whole_rear_area.min_col=0;
this->whole_rear_area.max_col=15;
return true;
}catch(CException &e){
ROS_WARN_STREAM(e.what());
......@@ -167,11 +167,11 @@ void AdcCarLightsDriver::set_standard(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=32;
color.G=32;
color.B=32;
color.R=255;
color.G=255;
color.B=255;
this->frame_buffer->set_color(color,this->whole_front_area);
color.R=16;
color.R=128;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->whole_rear_area);
......@@ -190,19 +190,19 @@ void AdcCarLightsDriver::set_brake(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=32;
color.G=32;
color.B=32;
color.R=255;
color.G=255;
color.B=255;
this->frame_buffer->set_color(color,this->whole_front_area);
color.R=32;
color.R=255;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_left_area);
color.R=32;
color.R=255;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_right_area);
color.R=16;
color.R=128;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_center_area);
......@@ -222,12 +222,12 @@ void AdcCarLightsDriver::set_turn_left(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=32;
color.G=32;
color.B=32;
color.R=255;
color.G=255;
color.B=255;
this->frame_buffer->set_color(color,this->front_right_area);
max.R=32;
max.G=8;
max.R=255;
max.G=64;
max.B=0;
min.R=0;
min.G=0;
......@@ -236,7 +236,7 @@ void AdcCarLightsDriver::set_turn_left(void)
this->frame_buffer->load_image(0,this->config_.left_intermitent_file);
this->frame_buffer->add_image_display(0,0,0,0,index_mtn,-1,this->rear_left_area);
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->front_left_area);
color.R=16;
color.R=128;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_center_area);
......@@ -257,12 +257,12 @@ void AdcCarLightsDriver::set_turn_right(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=32;
color.G=32;
color.B=32;
color.R=255;
color.G=255;
color.B=255;
this->frame_buffer->set_color(color,this->front_left_area);
max.R=32;
max.G=8;
max.R=255;
max.G=64;
max.B=0;
min.R=0;
min.G=0;
......@@ -271,7 +271,7 @@ void AdcCarLightsDriver::set_turn_right(void)
this->frame_buffer->load_image(0,this->config_.right_intermitent_file);
this->frame_buffer->add_image_display(0,0,0,0,index_mtn,-1,this->rear_right_area);
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->front_right_area);
color.R=16;
color.R=128;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_center_area);
......@@ -293,7 +293,7 @@ void AdcCarLightsDriver::set_parked(void)
this->frame_buffer->clear_all_patterns();
color.R=0;
color.G=0;
color.B=32;
color.B=255;
this->frame_buffer->set_color(color,this->whole_area);
}
}catch(CException &e){
......@@ -310,8 +310,8 @@ void AdcCarLightsDriver::set_emergency(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
max.R=32;
max.G=8;
max.R=255;
max.G=64;
max.B=0;
min.R=0;
min.G=0;
......@@ -332,12 +332,12 @@ void AdcCarLightsDriver::set_health(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
max.R=32;
max.R=255;
max.G=0;
max.B=0;
min.R=0;
min.G=0;
min.B=32;
min.B=255;
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->whole_area);
}
}catch(CException &e){
......@@ -355,7 +355,7 @@ void AdcCarLightsDriver::set_charge(void)
{
this->frame_buffer->clear_all_patterns();
max.R=0;
max.G=32;
max.G=255;
max.B=0;
min.R=0;
min.G=0;
......
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