Revision 1542
Changed Push-Pull to display BOM histogram as well as net IR BOM vector. Changed BOM Tracker to print an x,y pair separated by a comma so the data
can be saved and read in by MATLAB for analysis.
| push_pull.c | ||
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| 3 | 3 |
#include <wl_basic.h> |
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#include <stdlib.h> |
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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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uint8_t intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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Vector v; |
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/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")
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* components. Calculated by multiplying the intensity by the x and y |
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* component respectively (x and y components are stored in the tables |
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* above). */ |
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int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")
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* components for the entire robot. */ |
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long net_x_comp = 0; |
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long net_y_comp = 0; |
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/* Variables used to normalize the net component values */ |
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int total_intensity = 0; |
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int normalized_net_x_comp = 0; |
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int normalized_net_y_comp = 0; |
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int i = 0; |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
| 33 | 12 |
encoders_init(); |
| ... | ... | |
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orbs_set_color(RED, RED); |
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while (1) {
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/* Make sure to clear our accumulators */ |
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net_x_comp = 0; |
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net_y_comp = 0; |
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total_intensity = 0; |
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bom_print_usb(NULL); |
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bom_refresh(BOM_ALL); |
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for (i = 0; i < 16; i++) {
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/* BOM intensity is actually measured as more intense = closer to 0 */ |
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intensity[i] = 255 - bom_get(i); |
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weighted_x_comp[i] = intensity[i] * x_comp[i]; |
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weighted_y_comp[i] = intensity[i] * y_comp[i]; |
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net_x_comp += weighted_x_comp[i]; |
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net_y_comp += weighted_y_comp[i]; |
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total_intensity += intensity[i]; |
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} |
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bom_get_vector(&v, NULL); |
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if (total_intensity > 0) {
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normalized_net_x_comp = net_x_comp / total_intensity; |
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normalized_net_y_comp = net_y_comp / total_intensity; |
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} |
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usb_puts("x: ");
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usb_puti(normalized_net_x_comp); |
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usb_puts("x: ");
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usb_puti(v.x); |
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usb_puts("\ty: ");
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usb_puti(normalized_net_y_comp);
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usb_puti(v.y);
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usb_puts("\n");
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delay_ms(50); |
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} |
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while(1); |
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