Revision 1269
Improved robot sensor dump format
| dump_robot.c | ||
|---|---|---|
| 15 | 15 |
while (usb_getc_nb (&c)==-1) |
| 16 | 16 |
{
|
| 17 | 17 |
robot_read_encoders (&left, &right); |
| 18 |
usb_puti (left); |
|
| 19 |
usb_puts (" ");
|
|
| 20 |
usb_puti (right);
|
|
| 21 |
usb_puts (NL); |
|
| 18 |
|
|
| 19 |
usb_puts ("Left: "); usb_puti (left ); usb_puts (NL);
|
|
| 20 |
usb_puts ("Right: "); usb_puti (right); usb_puts (NL);
|
|
| 21 |
usb_puts (NL NL);
|
|
| 22 | 22 |
} |
| 23 | 23 |
} |
| 24 | 24 |
|
| 25 | 25 |
void dump_robot_rangefinders (void) |
| 26 | 26 |
{
|
| 27 |
uint16_t rf; |
|
| 27 |
uint16_t rf[5];
|
|
| 28 | 28 |
char c; |
| 29 | 29 |
|
| 30 | 30 |
while (usb_getc_nb (&c)==-1) |
| 31 | 31 |
{
|
| 32 |
// First read all of the values, then print them, because it's much more readable that way. |
|
| 33 |
|
|
| 32 | 34 |
for (uint8_t i=0; i<5; ++i) |
| 33 | 35 |
{
|
| 34 |
robot_read_rangefinder (i, &rf); |
|
| 35 |
if (i!=0) usb_puts (" ");
|
|
| 36 |
usb_puti (rf); |
|
| 36 |
robot_read_rangefinder (i, &rf[i]); |
|
| 37 | 37 |
} |
| 38 |
usb_puts (NL); |
|
| 38 |
|
|
| 39 |
for (uint8_t i=0; i<5; ++i) |
|
| 40 |
{
|
|
| 41 |
usb_puti (i); |
|
| 42 |
usb_puts (": ");
|
|
| 43 |
usb_puti (rf[i]); |
|
| 44 |
usb_puts (NL); |
|
| 45 |
} |
|
| 46 |
|
|
| 47 |
usb_puts (NL NL); |
|
| 39 | 48 |
} |
| 40 | 49 |
} |
| 41 | 50 |
|
| 42 | 51 |
void dump_robot_bom (void) |
| 43 | 52 |
{
|
| 44 |
uint16_t bom; |
|
| 53 |
uint16_t bom[16];
|
|
| 45 | 54 |
char c; |
| 46 |
|
|
| 55 |
|
|
| 47 | 56 |
while (usb_getc_nb (&c)==-1) |
| 48 | 57 |
{
|
| 58 |
// First read all of the values, then print them, because it's much more readable that way. |
|
| 59 |
|
|
| 49 | 60 |
for (uint8_t i=0; i<16; ++i) |
| 61 |
robot_read_rangefinder (i, &bom[i]); |
|
| 62 |
|
|
| 63 |
for (uint8_t i=0; i<16; ++i) |
|
| 50 | 64 |
{
|
| 51 |
robot_read_rangefinder (i, &bom); |
|
| 52 |
if (i!=0) usb_puts (" ");
|
|
| 53 |
usb_puti (bom); |
|
| 65 |
if (i<10) usb_puts (" ");
|
|
| 66 |
usb_puti (i); |
|
| 67 |
usb_puts (": ");
|
|
| 68 |
usb_puti (bom[i]); |
|
| 69 |
usb_puts (NL); |
|
| 54 | 70 |
} |
| 55 |
usb_puts (NL); |
|
| 71 |
usb_puts (NL NL);
|
|
| 56 | 72 |
} |
| 57 | 73 |
} |
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