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?
User | Revision | Line number | New 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 | } |