| Global Variables | |
| speed | The speed of the robot as set by the user |
| orientation | The orientation of the robot |
| xsize | The horizontal size of the robot area |
| currentlocx | The current x coordinate of the robot |
| currentlocy | The current y coordinate of the robot |
| oldx | The old x coordinate of the robot used to see if the robot has moved |
| oldy | The old y coordinate of the robot. Also used to check for movement |
draw_blackbox
| static GdkGC *blackbox_gc | The graphics content used when while copying the pixmap |
| static GdkPixmap *blackbox | The drawable that is being copied to |
| GdkColor black | defines the name of the color being used |
| Functions Called Summary | |
| gdk_draw_pixmap | function used to draw the pixmap, in this case a black box in the robot simulation area |
draw_robot
| Local Variable Summary | |
| static GdkGC *blackbox_gc | The graphics content used when while copying the pixmap |
| static GdkPixmap *blackbox | The drawable that is being copied to |
| GdkColor color | defines the name color. Used when the color yellow is created. |
| GdkColor black | defines the name of the color black |
| double xend | = 25*cos(radians). Used to calculate the x position of the robot figure |
| double yend | = 25*sin(radians). Used to calculate the y position of the robot figure |
| double radians | Value of the orientation in radians instead of degrees. Calculated using the formula Radians=degrees*3.13159*2/360 |
| double degrees | =orientation mod 360. To convert all angles to be between 0 and 360. |
| double newx | x location of the robot before being converted to a standard scale |
| double newy | y location of the robot before being converted to a standard scale |
| double time | Constant 0.5. Used for formula s=so + vot to calculate the current location |
| double ysize | Vertical size of the robot display area. Calculates by xsize*(480.0/300.0) |
| Functions Called Summary | |
| gdk_draw_pixmap | function used to draw the pixmap, in this case a black box in the robot simulation area |
on_exitbutton_clicked
| Variable Summary | |
| GtkButton *button | the button that is being clicked |
| gpointer user_data | |
| Functions Called Summary | |
| gtk_clist_clear | clears the location and speed list that is displayed on the GUI. Since the list is a separate widget, this will not effect any other part of the GUI. |
| gtk_exit() | exits the program |
on_window1_configure_event
| Attribute Summary | |
| GtkWidget *widget | Defining which widget that is being acted upon when the event occurs |
| GdkEventConfigure *event | Defines what the event is |
| gpointer user_data | |
| Functions Called Summary | |
| draw_blackbox | This will draw a blackbox in the robot display area so the area is black and the robot, which is yellow, will be seen easier |
| pthread_create | Creates a new thread for the draw_robot function. This allows for the clear list button and the exit button to both work |
pass_values
| Attribute Summary | |
| GtkWidget *widget 1 | This is set to the address of the robot display area so that it can be used to draw the robot |
| GtkWidget *widget 1 | This is set to the address of the location and speed list. It is needed to display the location and speed at the top of the list. |
robot_delay
| Attribute Summary | |
| float seconds | The seconds that you want to for your delay. Gettimeofday is used in this function to get the current seconds and microseconds. |
on_window1_expose_event
| Functions Called Summary | |
| draw_blackbox | Draws a blackbox inside the robot display area |
control_robot
| Functions Called Summary | |
| Test.Runme | Establishes a connection with the robot controller |
| draw_robot | infinite loop that calls draw_robot so it is updated in the display area at all times. |
| robot_delay | creates a .5 second delay between when the draw_robot is called |