Revision 1530
Recompiled library to incorporate new BOM histogram print function. Push-Pull behavior currently prints the BOM intensity histogram and the resultant
vector over USB.
| trunk/code/behaviors/formation_control/push_pull/push_pull.c | ||
|---|---|---|
| 120 | 120 |
net_y_comp = 0; |
| 121 | 121 |
total_intensity = 0; |
| 122 | 122 |
|
| 123 |
bom_print_usb(NULL); |
|
| 124 |
|
|
| 123 | 125 |
bom_refresh(BOM_ALL); |
| 124 | 126 |
for (i = 0; i < 16; i++) {
|
| 125 | 127 |
/* BOM intensity is actually measured as more intense = closer to 0 */ |
| trunk/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. **/ |
| 69 | 69 |
int bom_get_max(void); |
| 70 | 70 |
|
| 71 |
/** @brief Print snapshot of BOM intensity histogram over USB connection **/ |
|
| 72 |
void bom_print_usb(int*); |
|
| 73 |
|
|
| 71 | 74 |
/** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/ |
| 72 | 75 |
int bom_get_max10(int *dist); |
| 73 | 76 |
|
Also available in: Unified diff