worthless

robot.cpp

@@ -22,19 +22,28 @@ void Robot::paint(QPainter *painter,
     if (pixmap.isNull()) {
         painter->setBrush(Qt::transparent);
         painter->setPen(Qt::black);
-        qreal x = this->pos().x() - ROBOT_WIDTH/2;
-        qreal y = this->pos().y() - ROBOT_HEIGHT/2;
-        qDebug() << "TOP LEFT:" << x << "," << y;
+        //qreal x = this->pos().x() - ROBOT_WIDTH/2;
+        //qreal y = this->pos().y() - ROBOT_HEIGHT/2;
+        //qDebug() << "TOP LEFT:" << x << "," << y;
         //painter->drawRect(x, y, ROBOT_WIDTH, ROBOT_HEIGHT);
         double theta = PI/2 - asin((getWheel(LEFT)->getLoc().y()-getWheel(RIGHT)->getLoc().y())/ROBOT_WIDTH);
         QPointF frontLeft = QPointF(getWheel(LEFT)->getLoc().x()+ROBOT_HEIGHT*cos(theta),(getWheel(LEFT)->getLoc().y()+ROBOT_HEIGHT*sin(theta)));
         QPointF frontRight = QPointF(getWheel(RIGHT)->getLoc().x()+ROBOT_HEIGHT*cos(theta),(getWheel(RIGHT)->getLoc().y()+ROBOT_HEIGHT*sin(theta)));
-        QPointF points[4] = {getWheel(LEFT)->getLoc(),
+       /* QPointF points[4] = {getWheel(LEFT)->getLoc(),
                                           frontLeft,
                                           frontRight,
                                           getWheel(RIGHT)->getLoc()
-        };
+        };*/
+        QPointF points[4] = {frontRight, frontLeft, getWheel(LEFT)->getLoc(), getWheel(RIGHT)->getLoc());
+                                                  frontLeft,
+                                                  frontRight,
+                                                  getWheel(RIGHT)->getLoc()
+         };
         painter->drawPolygon(points,4);
+        for (int i = 0; i < 4; i++)
+        {
+            qDebug() << "POINT" << i << points[i].x() << points[i].y();
+        }
     } else {
         painter->scale(.2272, .2824);
         painter->drawPixmap(QPointF(-15 * 4.4, -50 * 3.54), pixmap);