Revision 1067
Made some additions to rayHits.c
Not really useful, just for me
trunk/code/projects/test/testrangefinders.c | ||
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6 | 6 |
* - analog_init() is needed |
7 | 7 |
* - value 100 - under 5cm is not detected |
8 | 8 |
* - value 800 - over ~30cm is not detected |
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* - at ~20cm values become increasingly erroneous |
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9 | 10 |
* |
10 | 11 |
*/ |
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int to_mm(int rangeFinder) |
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{ |
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if(rangeFinder != -1) |
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return (int)(rangeFinder/15.112*10); |
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else |
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return -1; |
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} |
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int testrangefinders(void) { |
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dragonfly_init(ANALOG); |
14 | 25 |
usb_init(); |
... | ... | |
18 | 29 |
int d1,d2,d3,d4,d5; |
19 | 30 |
delay_ms(1000); |
20 | 31 |
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//int sum = 0; |
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//int count = 0; |
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//int average = 0; |
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// start testing rangefinders |
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while(1) { |
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//if(count == 10000) |
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//{ |
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// average = sum/count; |
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// count = 0; |
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//} |
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// get ranges |
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d1 = range_read_distance(IR1); |
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//d1 = range_read_distance(IR1);
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25 | 46 |
d2 = range_read_distance(IR2); |
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d3 = range_read_distance(IR3); |
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d4 = range_read_distance(IR4); |
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d5 = range_read_distance(IR5); |
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usb_puts("d1="); |
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usb_puti(d1); |
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usb_puts("\td2="); |
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usb_puti(d2); |
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usb_puts("\td3="); |
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usb_puti(d3); |
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usb_puts("\td4="); |
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usb_puti(d4); |
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usb_puts("\td5="); |
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usb_puti(d5); |
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usb_puts("\r\n"); |
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//d3 = range_read_distance(IR3); |
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//d4 = range_read_distance(IR4); |
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//d5 = range_read_distance(IR5); |
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//usb_puts("d1="); |
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//usb_puti(d1); |
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//sum += d2; |
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//usb_puts("\taverage of 10000="); |
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//usb_puti(d2); |
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//usb_puts("\td3="); |
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//usb_puti(d3); |
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//usb_puts("\td4="); |
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//usb_puti(d4); |
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//usb_puts("\td5="); |
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//usb_puti(d5); |
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usb_puts("\tIn mm="); |
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usb_puti(to_mm(d2)); |
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usb_puts("\r\n"); |
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//count++; |
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40 | 71 |
delay_ms(100); |
41 | 72 |
} |
42 | 73 |
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branches/simulator/projects/simulator/rayHits.c | ||
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5 | 5 |
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boolean rayHits(double Xr,double Yr,double Tr,double Xc,double Yc,double Rc) |
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{ |
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double m, b, D; |
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double m, b, D, t;
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m = tan(Tr); |
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b= -m * Xr + Yr; |
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D = (abs(Yc - m * Xc - b)) / (sqrt(m * m + 1); |
... | ... | |
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} |
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return false; |
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} |
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} |
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/* |
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* |
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* |
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* |
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* |
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* |
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* |
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* |
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* |
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*/ |
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double a, b, c, t1, t2; |
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t1 = -( |
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((Xr - Xc)^2 + 2*cos(Tr)*( |
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