Fix nasty GUI shit

Lesson10/Programs/PilotMonitor/src/PilotGUI.java

@@ -17,15 +17,15 @@ import lejos.geom.Point;
 import lejos.robotics.navigation.Pose;
 
 public class PilotGUI extends JFrame {
-
-    // program will automatically adjust if these three constants are changed
-    static final int VIS_HEIGHT=1500;  // visualization height  
-    static final int VIS_WIDTH=1500;   // visualization width
-    static final int Y_OFFSET=600;     // vertical offset to visualization
-    static final int X_OFFSET=400;     // horizontal offset to visualization
-    static final int POINT_WIDTH=4;  // width of points shown in the visualization
-                                      // VIS_HEIGHT + 2 * Y_OFFSET is the window height
-                                      // VIS_WIDTH + 2 * X_OFFSET is the window width
+	
+	static final int VIS_HEIGHT=400;  	// visualization height  
+    static final int VIS_WIDTH=1000;  	// visualization width
+    static final int Y_OFFSET=30;    	// vertical offset to visualization
+    static final int X_OFFSET=600;     	// horizontal offset to visualization
+    static final int POINT_WIDTH=4; 	// width of points shown in the visualization
+									    // VIS_HEIGHT + 2 * Y_OFFSET is the window height
+									    // VIS_WIDTH + 2 * X_OFFSET is the window width
+	
     static final int LENGTH_SCALE=5;
     
     
@@ -68,9 +68,9 @@ public class PilotGUI extends JFrame {
         
         super.paint(g);
         g2.setColor(Color.RED);
-        //g2.drawRect(X_OFFSET, Y_OFFSET, VIS_WIDTH, VIS_HEIGHT);
-        g2.drawLine(0, X_OFFSET, VIS_WIDTH, X_OFFSET);
-        g2.drawLine(Y_OFFSET, 0, Y_OFFSET, VIS_HEIGHT);
+        //g2.drawRect(winX(0), winY(VIS_HEIGHT), VIS_WIDTH, VIS_HEIGHT);
+        g2.drawLine(0, winY(Y_OFFSET)+Y_OFFSET, VIS_WIDTH + 2 * X_OFFSET, winY(Y_OFFSET)+Y_OFFSET);
+        g2.drawLine(winX(0), 0, winX(0), VIS_HEIGHT*2 + 2 * Y_OFFSET);
         
         g2.setColor(Color.BLUE);
         int x1 = winX(0), y1 = winY(0), x2, y2;
@@ -78,8 +78,8 @@ public class PilotGUI extends JFrame {
         for (int i = 1; i < size ; i++) 
         { 
         	Point current = route.get(i);
-            x2 = winX((int)current.getX());
-        	y2 = winY((int)current.getY());
+            x2 = winX((int)current.getX()*LENGTH_SCALE);
+        	y2 = winY((int)current.getY()*LENGTH_SCALE);
         	g2.drawLine(x1, y1, x2, y2);
         	x1 = x2; y1 = y2;
         }
@@ -88,8 +88,8 @@ public class PilotGUI extends JFrame {
         {
             p = particles.getParticle(i).getPose();
             g2.setColor(Color.BLACK);
-            g2.fillRect(winX((int)p.getX()-POINT_WIDTH/2) , 
-            		    winY((int)p.getY()+POINT_WIDTH/2), 
+            g2.fillRect(winX((int)p.getX()*LENGTH_SCALE-POINT_WIDTH/2) , 
+            		    winY((int)p.getY()*LENGTH_SCALE+POINT_WIDTH/2), 
             		    POINT_WIDTH, POINT_WIDTH);          
         }
 
@@ -97,12 +97,12 @@ public class PilotGUI extends JFrame {
     
     private int winX(int x)
     {
-    	return x*LENGTH_SCALE + X_OFFSET;
+    	return x + X_OFFSET;
     }
     
     private int winY(int y)
     {
-    	return VIS_HEIGHT - y*LENGTH_SCALE + Y_OFFSET;
+    	return VIS_HEIGHT - y + Y_OFFSET;
     }
 
 }

Lesson10/Programs/PilotMonitor/src/PilotMonitor.java

@@ -12,6 +12,7 @@
 
 import lejos.robotics.navigation.Move;
 import lejos.robotics.navigation.Pose;
+import lejos.util.Delay;
 
 public class PilotMonitor 
 {
@@ -42,7 +43,7 @@ public class PilotMonitor
     	m = new Move( (type == 0)? Move.MoveType.TRAVEL : Move.MoveType.ROTATE , 
     			distance, angle, false);
     	System.out.println("Move " + distance + " " + angle);
-    	return m;
+    	return new Move(Move.MoveType.TRAVEL,50,0,false);
     }
     
     public void go()
@@ -55,6 +56,7 @@ public class PilotMonitor
         	view.update(route.getRoute());
         	Pose p = route.getCurrentPose();
             System.out.println("Pose " + p.getX() + " " + p.getY() + " " + p.getHeading());
+            Delay.msDelay(1000);
         }
     }