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amiro-os / devices / DiWheelDrive / linefollow2.cpp @ c76baf23

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#include "global.hpp"
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#include "linefollow2.hpp"
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void LineFollow::printSensorData(){


    		
  

  

    
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    chprintf((BaseSequentialStream*) &SD1, "Test!");


    		
  

  

    
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}


    		
  

  

    
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void LineFollow::followLine(int vcnl4020Proximity[4], Global *global){


    		
  

  

    
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    chprintf((BaseSequentialStream*) &SD1, "Proximity: WL:0x%04X FL:0x%04X FR:0x%04X WR:0x%04X\n",


    		
  

  

    
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                    vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],


    		
  

  

    
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                    vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],


    		
  

  

    
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                    vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],


    		
  

  

    
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                    vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT]);


    		
  

  

    
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    global->motorcontrol.printGains();


    		
  

  

    
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}