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