Revision 06c41883
| devices/DiWheelDrive/main.cpp | ||
|---|---|---|
| 760 | 760 |
} |
| 761 | 761 |
|
| 762 | 762 |
|
| 763 |
global.threshProxyL = sensorL / rounds; |
|
| 764 |
global.threshProxyR = sensorR / rounds; |
|
| 765 |
chprintf(chp,"Thresh FL: %d, FR: %d\n", global.threshProxyL, global.threshProxyR);
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|
| 763 |
global.linePID.threshProxyL = sensorL / rounds;
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|
| 764 |
global.linePID.threshProxyR = sensorR / rounds;
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|
| 765 |
chprintf(chp,"Thresh FL: %d, FR: %d\n", global.linePID.threshProxyL, global.linePID.threshProxyR);
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|
| 766 | 766 |
return; |
| 767 | 767 |
} |
| 768 | 768 |
|
| ... | ... | |
| 788 | 788 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 789 | 789 |
} |
| 790 | 790 |
|
| 791 |
uint16_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
|
|
| 791 |
int32_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
|
|
| 792 | 792 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 793 | 793 |
|
| 794 | 794 |
chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n", |
| ... | ... | |
| 814 | 814 |
|
| 815 | 815 |
|
| 816 | 816 |
void shellRequestProxyRingValues(BaseSequentialStream *chp, int argc, char *argv[]){
|
| 817 |
int steps = 10000;
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|
| 817 |
int steps = 100; |
|
| 818 | 818 |
int i; |
| 819 | 819 |
|
| 820 | 820 |
uint16_t prox[8]; |
| ... | ... | |
| 841 | 841 |
} |
| 842 | 842 |
} |
| 843 | 843 |
|
| 844 |
|
|
| 845 | 844 |
static const ShellCommand commands[] = {
|
| 846 | 845 |
{"shutdown", shellRequestShutdown},
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| 847 | 846 |
{"wakeup", shellRequestWakeup},
|
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