Revision 06c41883

View differences:

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);
763
  global.linePID.threshProxyL = sensorL / rounds;
764
  global.linePID.threshProxyR = sensorR / rounds;
765
  chprintf(chp,"Thresh FL: %d, FR: %d\n",  global.linePID.threshProxyL, global.linePID.threshProxyR);
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;
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},
847 846
  {"wakeup", shellRequestWakeup},

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