Revision 1528
Finished function which prints the BOM intensity histogram over USB. Will print nicely in both windows and linux (uses "\r\n"). Will accept an array
pointer to print values already collected, or it will recollect current values and print.
| branches/bom_refactor/code/behaviors/template/main.c | ||
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| 12 | 12 |
#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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/* Time delay which determines how long the robot circles before it |
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* changes direction. */ |
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#define TIME_DELAY 5000 |
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int main (void) {
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/* Initialize the dragonfly boards, the xbee, and the encoders */ |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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int vals[16]; |
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int i; |
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while(1) {
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bom_refresh(BOM_ALL); |
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for (i = 0; i < 16; i++) {
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vals[i] = bom_get(i); |
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} |
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while (1) {
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/* Drive left, set orbs, and wait */ |
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orbs_set_color(RED, GREEN); |
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motor_l_set(FORWARD, 160); |
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motor_r_set(FORWARD, 255); |
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delay_ms(TIME_DELAY); |
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/* Drive right, change orb colors, and wait */ |
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orbs_set_color(PURPLE, BLUE); |
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motor_l_set(FORWARD, 255); |
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motor_r_set(FORWARD, 160); |
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delay_ms(TIME_DELAY); |
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bom_print_usb(vals); |
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delay_ms(100); |
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} |
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} |
| branches/bom_refactor/code/lib/include/libdragonfly/bom.h | ||
|---|---|---|
| 68 | 68 |
/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/ |
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int bom_get_max(void); |
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/** @brief Print snapshot of BOM intensity histogram over USB connection **/ |
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void bom_print_usb(int*); |
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/** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/ |
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int bom_get_max10(int *dist); |
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| branches/bom_refactor/code/projects/libdragonfly/bom.c | ||
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| 231 | 231 |
* Print a histogram which shows the current BOM intensity values for each of the 16 BOM IR |
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* sensors. The function will attempt to send the histogram data over USB. |
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* |
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* @param curBOMvals Pointer to an array of the current BOM values. Use this to print values
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* you have already collected. Otherwise pass in NULL and bom_refresh() will be called and
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* the current BOM intensity values will be collected. |
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* @param curBOMvals Pointer to an array of the current BOM values (the array must have
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* length 16). Use this to print values you have already collected. Otherwise pass in NULL
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* and bom_refresh() will be called and the current BOM intensity values will be collected.
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**/ |
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void bom_print_usb(int* curBOMvals) {
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void bom_print_usb(int* usrBOMvals) {
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int i, j, max = -1; |
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int vals[16]; |
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int curVals[16]; |
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int* prtValPtr; |
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if (curBOMvals) {
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if (usrBOMvals) {
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/* Use BOM values collected by user */ |
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prtValPtr = usrBOMvals; |
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} |
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/* Find max BOM value from users values */ |
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for (i = 0; i < 16; i++) {
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if (max < prtValPtr[i]) |
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max = prtValPtr[i]; |
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} |
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} else {
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/* Refresh and make sure the table is updated */ |
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bom_refresh(BOM_ALL); |
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delay_ms(100); |
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/* Record values into an array */ |
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for (i = 0; i < 16; i++) {
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vals[i] = bom_get(i);
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if (max < vals[i])
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max = vals[i];
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curVals[i] = bom_get(i);
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if (max < curVals[i])
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max = curVals[i];
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} |
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/* Display results */ |
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for (i = 0; i < 16; i++) {
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usb_puti(vals[i]); |
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usb_putc('\t');
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/* Use the current set of collected values */ |
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prtValPtr = curVals; |
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} |
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for (j = 0; j < (int)((max - vals[i]) / 5); j++) {
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usb_putc('#');
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} |
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/* Display results */ |
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for (i = 0; i < 16; i++) {
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usb_puti(i); |
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usb_puts(": ");
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usb_puti(prtValPtr[i]); |
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usb_putc('\t');
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usb_putc('\n');
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for (j = 0; j < (int)((max - prtValPtr[i]) / 5); j++) {
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usb_putc('#');
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} |
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usb_puts("Max: ");
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usb_puti(bom_get_max()); |
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usb_putc('\n');
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usb_putc('\n');
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delay_ms(400); |
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usb_puts("\r\n");
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} |
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usb_puts("\r\n");
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} |
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