fixed spaces in generate script and ultrasonic range

MyRobotLab · Jun 24, 2024 · bcff3d8 · bcff3d8
1 parent 3c7fcce
commit bcff3d8
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Showing 2 changed files with 26 additions and 2 deletions.
diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -36,7 +36,6 @@
 import org.myrobotlab.service.config.InMoov2Config;
 import org.myrobotlab.service.config.OpenCVConfig;
 import org.myrobotlab.service.config.SpeechSynthesisConfig;
-import org.myrobotlab.service.data.Classification;
 import org.myrobotlab.service.data.JoystickData;
 import org.myrobotlab.service.data.Locale;
 import org.myrobotlab.service.interfaces.IKJointAngleListener;
@@ -2296,6 +2295,31 @@ public void waitTargetPos() {
     sendToPeer("torso", "waitTargetPos");
   }
 
+  public Double getUltrasonicRightDistance() {
+    UltrasonicSensor uss = (UltrasonicSensor)getPeer("ultrasonicRight");
+    if (uss != null) {
+      return uss.range();
+    }
+    else
+    {
+      warn("No ultrasonicRight attached");
+      return 0.0;
+    }
+  }
+
+
+  public Double getUltrasonicLeftDistance() {
+    UltrasonicSensor uss = (UltrasonicSensor)getPeer("ultrasonicLeft");
+    if (uss != null) {
+      return uss.range();
+    }
+    else
+    {
+      warn("No ultrasonicLeft attached");
+      return 0.0;
+    }
+  }
+
   public Map publishClassification(Map<String, Object> c) {
     // log.info(c);    
     return c;

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java
@@ -190,7 +190,7 @@ public String getScript(String inmoovName) {
 
     StringBuilder head = new StringBuilder(String.format("%s.moveHead(%.0f,%.0f,%.0f,%.0f,%.0f,%.0f)\n", inmoovName, neck, rothead, eyeX, eyeY, jaw, rollNeck));
     if (eyelidLeft != null && eyelidRight != null) {
-      head.append(String.format("%s.moveEyelids(%.0f,%.0f)\n", inmoovName, eyelidLeft, eyelidRight));
+      head.append(String.format("  %s.moveEyelids(%.0f,%.0f)\n", inmoovName, eyelidLeft, eyelidRight));
     }
 
     return head.toString();