SLRC-2019 / Mbed 2 deprecated speed_robot

code for the speed robot

Dependencies:   MPU6050-DMP mbed PololuQTRSensors vl53l0x

tof.h@1:b188e27eb7da, 2019-09-30 (annotated)

Committer:
deepanaishtaweera174
Date:
Mon Sep 30 08:43:34 2019 +0000
Revision:
1:b188e27eb7da
Child:
3:9b2f15b0d47b
added tof code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
deepanaishtaweera174 1:b188e27eb7da 1 void InitTOFSensors()
deepanaishtaweera174 1:b188e27eb7da 2 {
deepanaishtaweera174 1:b188e27eb7da 3 sensorFront.init();
deepanaishtaweera174 1:b188e27eb7da 4 sensorFront.setTimeout(500);
deepanaishtaweera174 1:b188e27eb7da 5 sensorFront.setMeasurementTimingBudget(40000);
deepanaishtaweera174 1:b188e27eb7da 6 sensorFront.setSignalRateLimit(0.9);
deepanaishtaweera174 1:b188e27eb7da 7 sensorFront.startContinuous();
deepanaishtaweera174 1:b188e27eb7da 8 }
deepanaishtaweera174 1:b188e27eb7da 9
deepanaishtaweera174 1:b188e27eb7da 10 void ReadTOFDistance()
deepanaishtaweera174 1:b188e27eb7da 11 {
deepanaishtaweera174 1:b188e27eb7da 12 int distance = sensorFront.readRangeContinuousMillimeters();
deepanaishtaweera174 1:b188e27eb7da 13 float distanceCM = (float)(distance / 10.0);
deepanaishtaweera174 1:b188e27eb7da 14 frontDistance = distanceCM;
deepanaishtaweera174 1:b188e27eb7da 15 }
deepanaishtaweera174 1:b188e27eb7da 16
deepanaishtaweera174 1:b188e27eb7da 17 void PrintTOFDistance()
deepanaishtaweera174 1:b188e27eb7da 18 {
deepanaishtaweera174 1:b188e27eb7da 19 int distance = sensorFront.readRangeContinuousMillimeters();
deepanaishtaweera174 1:b188e27eb7da 20 float distanceCM = (float)(distance / 10.0);
deepanaishtaweera174 1:b188e27eb7da 21 printf("%.2f\n",distanceCM);
deepanaishtaweera174 1:b188e27eb7da 22 if (sensorFront.timeoutOccurred())
deepanaishtaweera174 1:b188e27eb7da 23 {
deepanaishtaweera174 1:b188e27eb7da 24 PrintSerial(" TIMEOUT");
deepanaishtaweera174 1:b188e27eb7da 25 }
deepanaishtaweera174 1:b188e27eb7da 26 }