Revision 1269
Improved robot sensor dump format
dump_robot.c | ||
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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 |
|
|
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usb_puts ("Left: "); usb_puti (left ); usb_puts (NL);
|
|
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usb_puts ("Right: "); usb_puti (right); usb_puts (NL);
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|
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); |
|
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if (i!=0) usb_puts (" "); |
|
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usb_puti (rf); |
|
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robot_read_rangefinder (i, &rf[i]); |
|
37 | 37 |
} |
38 |
usb_puts (NL); |
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38 |
|
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39 |
for (uint8_t i=0; i<5; ++i) |
|
40 |
{ |
|
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usb_puti (i); |
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usb_puts (": "); |
|
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usb_puti (rf[i]); |
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usb_puts (NL); |
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} |
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46 |
|
|
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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]); |
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62 |
|
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63 |
for (uint8_t i=0; i<16; ++i) |
|
50 | 64 |
{ |
51 |
robot_read_rangefinder (i, &bom); |
|
52 |
if (i!=0) usb_puts (" "); |
|
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usb_puti (bom); |
|
65 |
if (i<10) usb_puts (" "); |
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usb_puti (i); |
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usb_puts (": "); |
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usb_puti (bom[i]); |
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usb_puts (NL); |
|
54 | 70 |
} |
55 |
usb_puts (NL); |
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71 |
usb_puts (NL NL);
|
|
56 | 72 |
} |
57 | 73 |
} |
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