root / trunk / code / projects / test / test_rangefinders.c @ 1365
History | View | Annotate | Download (1.29 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
|
3 |
|
4 |
/**
|
5 |
* RangeFinder Rules
|
6 |
* - analog_init() is needed
|
7 |
* - value 100 - under 5cm is not detected
|
8 |
* - value 800 - over ~30cm is not detected
|
9 |
* - at ~20cm values become increasingly erroneous
|
10 |
*
|
11 |
*/
|
12 |
|
13 |
int to_mm(int rangeFinder) |
14 |
{ |
15 |
|
16 |
if(rangeFinder != -1) |
17 |
return (int)(rangeFinder/15.112*10); |
18 |
else
|
19 |
return -1; |
20 |
|
21 |
} |
22 |
|
23 |
int testrangefinders(void) { |
24 |
usb_init(); |
25 |
usb_puts("usb turned on\r\n");
|
26 |
range_init(); |
27 |
usb_puts("rangefinders turned on\r\n");
|
28 |
int d1,d2,d3,d4,d5;
|
29 |
delay_ms(1000);
|
30 |
|
31 |
//int sum = 0;
|
32 |
//int count = 0;
|
33 |
//int average = 0;
|
34 |
|
35 |
// start testing rangefinders
|
36 |
while(1) { |
37 |
//if(count == 10000)
|
38 |
//{
|
39 |
// average = sum/count;
|
40 |
// count = 0;
|
41 |
//}
|
42 |
|
43 |
// get ranges
|
44 |
//d1 = range_read_distance(IR1);
|
45 |
d2 = range_read_distance(IR2); |
46 |
//d3 = range_read_distance(IR3);
|
47 |
//d4 = range_read_distance(IR4);
|
48 |
//d5 = range_read_distance(IR5);
|
49 |
//usb_puts("d1=");
|
50 |
//usb_puti(d1);
|
51 |
|
52 |
//sum += d2;
|
53 |
|
54 |
//usb_puts("\taverage of 10000=");
|
55 |
//usb_puti(d2);
|
56 |
|
57 |
//usb_puts("\td3=");
|
58 |
//usb_puti(d3);
|
59 |
//usb_puts("\td4=");
|
60 |
//usb_puti(d4);
|
61 |
//usb_puts("\td5=");
|
62 |
//usb_puti(d5);
|
63 |
|
64 |
usb_puts("\tIn mm=");
|
65 |
usb_puti(to_mm(d2)); |
66 |
usb_puts("\r\n");
|
67 |
|
68 |
//count++;
|
69 |
|
70 |
delay_ms(100);
|
71 |
} |
72 |
|
73 |
// end testing rangefinders
|
74 |
return 0; |
75 |
} |
76 |
|
77 |
|