Revision 1508
Making bom_get_vector() function which should eventually be placed into the library.
| trunk/code/behaviors/formation_control/push_pull/main.c | ||
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <stdint.h> |
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/* Struct for storing vector components */ |
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typedef struct {
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uint8_t x; |
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uint8_t y; |
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} Vector; |
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/* Function Prototypes */ |
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static const Vector get_bom_vector(); |
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/******************************* |
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* BOM Vector Component Tables * |
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*******************************/ |
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/* |
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* The x component of each BOM detector (indexed from 0 to 15) |
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* was calculated using the following formula: |
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* this effectively calculates the x component of the emitter vector where |
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* emitter 0 corresponds to an angle of 0 radians, 4 -> pi/2, 8 -> pi, ect. |
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*/ |
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static signed int x_comp[16] = {
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static const signed int x_comp[16] = {
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100, |
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92, |
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71, |
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-38 |
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}; |
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int main (void) {
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/* Store current BOM readings and use them as a weighting factor */ |
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usb_puti(normalized_net_y_comp); |
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usb_puts("\n");
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delay_ms(500);
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delay_ms(50); |
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} |
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while(1); |
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} |
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static Vector get_bom_vector() {
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} |
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