root / trunk / code / projects / test / testrangefinders.c @ 1067
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#include <dragonfly_lib.h> |
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/**
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* RangeFinder Rules
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* - analog_init() is needed
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* - value 100 - under 5cm is not detected
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* - value 800 - over ~30cm is not detected
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* - at ~20cm values become increasingly erroneous
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*
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*/
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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); |
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usb_init(); |
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usb_puts("usb turned on\r\n");
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range_init(); |
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usb_puts("rangefinders turned on\r\n");
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int d1,d2,d3,d4,d5;
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delay_ms(1000);
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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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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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//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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delay_ms(100);
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} |
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// end testing rangefinders
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return 0; |
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} |
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