Revision fd73d758
| ID | fd73d7589ef076f3d6b164031d18f5827a18a8d4 |
Changed range sensor to read on-demand
| scout_avr/src/main.cpp | ||
|---|---|---|
| 1 |
#if 1 ///////////////////////////////////////////////
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|
| 1 |
#if 0 ///////////////////////////////////////////////
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|
| 2 | 2 |
|
| 3 | 3 |
#include "ros.h" |
| 4 | 4 |
#include <std_msgs/Int16.h> |
| ... | ... | |
| 42 | 42 |
{
|
| 43 | 43 |
#include <stdlib.h> |
| 44 | 44 |
#include <string.h> |
| 45 |
#include <avr/io.h> |
|
| 46 |
#include <util/delay.h> |
|
| 45 | 47 |
} |
| 46 | 48 |
|
| 47 | 49 |
#include "Atmega128rfa1.h" |
| ... | ... | |
| 70 | 72 |
now = avr.time(); |
| 71 | 73 |
if (now > next) {
|
| 72 | 74 |
next = now + 100; |
| 73 |
ultoa(now, buf, 10); |
|
| 75 |
/*ultoa(now, buf, 10);
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|
| 74 | 76 |
avr.puts(buf); |
| 75 |
avr.puts("\r\n");
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|
| 77 |
avr.puts("\r\n");*/
|
|
| 76 | 78 |
id++; |
| 77 | 79 |
if (id == 0x40) {
|
| 78 | 80 |
id = 0; |
| ... | ... | |
| 84 | 86 |
avr.puts(", ");
|
| 85 | 87 |
utoa(range_get(1), buf, 10); |
| 86 | 88 |
avr.puts(buf);*/ |
| 87 |
/*for (i = 0; i < 4; i++) {
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|
| 89 |
for (i = 0; i < 4; i++) {
|
|
| 88 | 90 |
bom_send(i); |
| 89 | 91 |
int msg = bom_get(i); |
| 90 | 92 |
if (msg != BOM_NO_DATA) {
|
| ... | ... | |
| 99 | 101 |
avr.puts(buf); |
| 100 | 102 |
avr.puts(")\r\n");
|
| 101 | 103 |
} |
| 102 |
}*/
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|
| 104 |
} |
|
| 103 | 105 |
} |
| 104 | 106 |
} |
| 105 | 107 |
return 0; |
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