Page 164 - Hacking Roomba

Chapter 7 — Making RoombaView 145

FIGURE 7-5: On-screen
virtual Roomba

Listing 7-5: Drawing Virtual Roomba

void drawRoombaStatus(float posx, float posy, float angle) {
pushMatrix();
translate((int)posx,(int)posy);
rotate(angle);
smooth();
textFont(fontA, 10);
textAlign(CENTER);
fill(cBack); strokeWeight(2); stroke(100);
ellipseMode(CENTER_RADIUS);
ellipse(0,0, 50,50);
fill(0); stroke(cTxt); strokeWeight(4);
text(“cliff”, 0, -30);
if( roombacomm.cliffLeft() ) stroke(cOn);
else stroke(cOff);
line(-35,-25, -40,-15);
if( roombacomm.cliffRight() ) stroke(cOn);
else stroke(cOff);
line( 35,-25, 40,-15);

if( roombacomm.cliffFrontLeft() ) stroke(cOn);
else stroke(cOff);
line(-30,-30, -20,-30);
if( roombacomm.cliffFrontRight() ) stroke(cOn);
else stroke(cOff);
line( 30,-30, 20,-30);
stroke(cTxt); strokeWeight(7);
text(“bump”, 0,-17);
if( roombacomm.bumpLeft() ) stroke(cOn);
else stroke(cOff);
line(-25,-20, -20,-20);
if( roombacomm.bumpRight() ) stroke(cOn);
else stroke(cOff);
Continued