Revision 904
Compiles now. This code worked a while ago but I haven't touched it since early last semester.
The idea was to do exactly what Abe is doing now... so it might be useful.
| trunk/code/projects/mapping/robot/stat_gather.c | ||
|---|---|---|
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#include "dragonfly_lib.h" |
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#include "serial.h" |
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int main(void){
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int i; |
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int ranges[] = {IR1, IR2, IR3, IR4, IR5};
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unsigned long eval[] = {0,0,0,0,0};
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unsigned long square_eval[] = {0,0,0,0,0};
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unsigned int count[] = {0,0,0,0,0};
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int range; |
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int distance; |
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//Correspond to 4 cm to 30 cm THIS COULD BE GETTING A BIT RIDICULOUSLY HUGE. |
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int distance_values[26][5]; |
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while(1){
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//Expects a value from 4 to 30. |
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distance = (usb_getc()-'0')*10 + usb_getc()-'0'; |
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if(distance > 30 || distance < 4){
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usb_puts("Expected a value in the range of the IR sensor. (4 cm - 30 cm), try again.\n");
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continue; |
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} |
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while(!button1_read()){
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for(i = 0; i < 5; i++){
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count[i]++; |
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range = range_read_distance(ranges[i]); |
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if(range==-1) |
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count[i]--; |
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else{
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sum[i] += range; |
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square_sum[i] += range*range; |
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} |
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} |
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} |
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for(i=0;i<5;i++){
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eval[i] /= count; |
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square_eval[i] /= count |
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} |
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usb_puts("Average, variance for this run:\n");
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for(i=0;i<5;i++){
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usb_puts("IR"); usb_puti(i); usb_puts(":\t");
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usb_puti(eval[i]); usb_puts("\t");
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usb_puti(square_eval[i]-eval[i]*eval[i]); |
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usb_puts("\n");
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} |
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while(!button2_read()); |
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} |
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} |
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| trunk/code/projects/mapping/robot/data_response.c | ||
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| 29 | 29 |
} |
| 30 | 30 |
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/** |
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* Sorry for the lack of modularity, I didn't want to deal with memory issues for too long, plus it'll be faster! |
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*/ |
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void handle_receive(char type, int source, unsigned char* packet, int length){
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char buf[MAX_PACKET_LENGTH]; |
| ... | ... | |
| 57 | 54 |
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case IR_TYPE: |
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//usb_puts("Generating an IR packet.\n");
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for(i=0;i<5;i++){
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ir_value = (short)range_read_distance(ranges[i]); |
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buf[2*i] = (char)((ir_value>>8)&255); |
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buf[2*i+1] = (ir_value&255); |
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//usb_puts("Distance :\t");
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//usb_puti(ir_value); |
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//usb_puts("\n");
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} |
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size = 10; |
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|
| ... | ... | |
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case ENCODER_TYPE: |
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break; |
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//Not yet supported. |
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} |
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case ALL_TYPE: |
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for(i=0;i<5;i++){
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ir_value = (short)range_read_distance(ranges[i]); |
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buf[2*i] = (char)((ir_value>>8)&255); |
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buf[2*i+1] = (ir_value&255); |
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} //Buf 0...9 filled. |
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//Tack on the Encoder data... |
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//Then BOM: |
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wl_token_iterator_begin(); |
| ... | ... | |
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} |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,ALL_TYPE,buf,size,source,0); |
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break; |
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} |
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/** |
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* @brief Generates a BOM Data packet. **NO LONGER USED** Delete once this code is used often. |
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*/ |
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int generate_bom_packet(char** buf){
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short int i=0, robot_id; |
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wl_token_iterator_begin(); |
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while(wl_token_iterator_has_next() && i<=96){
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robot_id = wl_token_iterator_next(); |
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(*buf)[i++] = (char)((robot_id>>8) & 0xFF); |
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(*buf)[i++] = (char)(robot_id & 0xFF); |
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(*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id)); |
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} |
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//i is one greater than the index of the last byte... the size. |
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return i; |
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} |
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/** |
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* @brief Generates an IR Packet **NO LONGER USED** Delete once this code is used often. |
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* |
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*/ |
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int generate_IR_packet(char** buf){
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//usb_puts("Generating an IR packet.\n");
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char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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int i; |
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short ir_value; |
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for(i=0;i<5;i++){
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ir_value = (short)range_read_distance(ranges[i]); |
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(*buf)[2*i] = (char)((ir_value>>8)&255); |
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(*buf)[2*i+1] = (ir_value&255); |
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//usb_puts("Distance :\t");
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//usb_puti(ir_value); |
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//usb_puts("\n");
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} |
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return 10; |
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} |
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| trunk/code/projects/mapping/robot/data_response.h | ||
|---|---|---|
| 5 | 5 |
#define BOM_TYPE 0 |
| 6 | 6 |
#define IR_TYPE 1 |
| 7 | 7 |
#define ENCODER_TYPE 2 |
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#define ALL-TYPE 3
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#define ALL_TYPE 3
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| 9 | 9 |
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| 10 | 10 |
#define MAX_PACKET_LENGTH 100 |
| 11 | 11 |
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