LP Long Distance IR Vision Robot
Dependencies: max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver
Diff: main.cpp
- Revision:
- 33:52c898aca207
- Parent:
- 32:b108ed6096b0
- Child:
- 34:f31a6b53d4ea
- Child:
- 35:bae9b236070b
diff -r b108ed6096b0 -r 52c898aca207 main.cpp --- a/main.cpp Mon Jul 30 05:53:55 2018 +0000 +++ b/main.cpp Tue Jul 31 02:00:57 2018 +0000 @@ -183,8 +183,8 @@ onDataWritten_curr_ble_to_slave[0] = direction; onDataWritten_curr_ble_to_slave[1] = button_state; - dprintf("direction: %d\n", direction); - dprintf("button_state: %d\n", button_state); + //dprintf("direction: %d\n", direction); + //dprintf("button_state: %d\n", button_state); } } #endif @@ -481,10 +481,22 @@ // Increment frame counter frame_idx = frame_idx +1; } - wait_ms( 20 ); - memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)); - #endif + #if defined(RASPBERRY_PI) + if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 ) + { + char grid_eye_msg[130]; + grid_eye_msg[0]=0x55; + grid_eye_msg[1]=0xaa; + for (int idx = 0; idx < 128; idx++) + grid_eye_msg[idx+2] = curr_raw_frame_to_master[idx]; + //pc.printf(grid_eye_msg); + for (int idx = 0; idx < 130; idx++) + pc.putc(grid_eye_msg[idx]); + } + #endif + wait_ms( 20 ); + memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)); #endif /***************************************************************************