Revision 2853d46b
Changed stepper to always step in step_sweep
Also added whole/half step as a separate setting, with a single
step_do_step function. Also added stepper to main.cpp.
| scout_avr/src/main.cpp | ||
|---|---|---|
| 12 | 12 |
#include <util/delay.h> |
| 13 | 13 |
|
| 14 | 14 |
/* Period of main loop in ms */ |
| 15 |
#define MAINLOOP_PERIOD 1000//50
|
|
| 15 |
#define MAINLOOP_PERIOD 100//50 |
|
| 16 | 16 |
|
| 17 | 17 |
char range_enabled = 0; |
| 18 | 18 |
|
| ... | ... | |
| 52 | 52 |
ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
|
| 53 | 53 |
nh.subscribe(test_in); |
| 54 | 54 |
|
| 55 |
/* Stepper */ |
|
| 56 |
// TODO ROS messages to set bounds |
|
| 57 |
step_init(); |
|
| 58 |
step_dir(1); |
|
| 59 |
step_set_size(STEP_WHOLE); |
|
| 60 |
step_sweep_bounds(-26, 26); |
|
| 61 |
|
|
| 55 | 62 |
/* Range */ |
| 56 | 63 |
range_init(); |
| 57 | 64 |
sonar::sonar_distance range_msg; |
| ... | ... | |
| 105 | 112 |
} |
| 106 | 113 |
|
| 107 | 114 |
/* Stepper / range sensor */ |
| 108 |
// TODO sweep stepper |
|
| 109 |
range_measure(ranges); |
|
| 110 |
range_msg.header.stamp = nh.now(); |
|
| 111 |
range_msg.header.seq++; |
|
| 112 |
range_msg.pos = 0; // TODO fill this |
|
| 113 |
range_msg.distance0 = ranges[0]; |
|
| 114 |
range_msg.distance1 = ranges[1]; |
|
| 115 |
range_pub.publish(&range_msg); |
|
| 115 |
if (range_enabled) {
|
|
| 116 |
step_sweep(); |
|
| 117 |
range_measure(ranges); |
|
| 118 |
range_msg.header.stamp = nh.now(); |
|
| 119 |
range_msg.header.seq++; |
|
| 120 |
range_msg.pos = 0; // TODO fill this |
|
| 121 |
range_msg.distance0 = ranges[0]; |
|
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range_msg.distance1 = ranges[1]; |
|
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range_pub.publish(&range_msg); |
|
| 124 |
} |
|
| 116 | 125 |
|
| 117 | 126 |
} |
| 118 | 127 |
|
| ... | ... | |
| 146 | 155 |
char buf[20]; |
| 147 | 156 |
//int i; |
| 148 | 157 |
//char id = 0; |
| 149 |
unsigned long now, next = 0; |
|
| 150 |
unsigned int ranges[2]; |
|
| 158 |
/*unsigned long now, next = 0;
|
|
| 159 |
unsigned int ranges[2];*/
|
|
| 151 | 160 |
avr.init(); |
| 152 | 161 |
range_init(); |
| 153 | 162 |
bom_init(); |
| 154 |
/*func step_sweep_cb = step_init(10);
|
|
| 163 |
func step_sweep_cb = step_init(10); |
|
| 155 | 164 |
step_sweep_bounds(-26, 26); |
| 156 | 165 |
step_dir(1); |
| 157 |
step_sweep_speed(50);*/ |
|
| 158 |
avr.puts("Hello!\r\n");
|
|
| 166 |
step_sweep_speed(50); |
|
| 167 |
PORTF |= _BV(PF4); |
|
| 168 |
_delay_ms(500); |
|
| 169 |
PORTF = (PORTF & ~_BV(PF4)) | _BV(PF5); |
|
| 170 |
_delay_ms(500); |
|
| 171 |
PORTF &= ~_BV(PF5); |
|
| 159 | 172 |
while (1) |
| 160 | 173 |
{
|
| 161 |
/*step_sweep_cb();
|
|
| 162 |
_delay_ms(10);*/
|
|
| 163 |
now = avr.time(); |
|
| 174 |
step_sweep_cb(); |
|
| 175 |
_delay_ms(10); |
|
| 176 |
/*now = avr.time();
|
|
| 164 | 177 |
if (now > next) {
|
| 165 |
next = now + 500; |
|
| 166 |
//step_sweep_cb(); |
|
| 178 |
next = now + 500;*/ |
|
| 167 | 179 |
/*ultoa(now, buf, 10); |
| 168 | 180 |
avr.puts(buf); |
| 169 | 181 |
avr.puts("\r\n");*/
|
| ... | ... | |
| 172 | 184 |
id = 0; |
| 173 | 185 |
} |
| 174 | 186 |
set_robot_id(id);*/ |
| 175 |
range_measure(ranges); |
|
| 187 |
/*range_measure(ranges);
|
|
| 176 | 188 |
utoa(ranges[0], buf, 10); |
| 177 | 189 |
avr.puts("Range: ");
|
| 178 | 190 |
avr.puts(buf); |
| 179 | 191 |
avr.puts(", ");
|
| 180 | 192 |
utoa(ranges[1], buf, 10); |
| 181 | 193 |
avr.puts(buf); |
| 182 |
avr.puts("\r\n");
|
|
| 194 |
avr.puts("\r\n");*/
|
|
| 183 | 195 |
/*for (i = 0; i < 4; i++) {
|
| 184 | 196 |
bom_send(i); |
| 185 | 197 |
int msg = bom_get(i); |
| ... | ... | |
| 196 | 208 |
avr.puts(")\r\n");
|
| 197 | 209 |
} |
| 198 | 210 |
}*/ |
| 199 |
} |
|
| 211 |
//}
|
|
| 200 | 212 |
} |
| 201 | 213 |
return 0; |
| 202 | 214 |
} |
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