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sensor
Fork of program_SensorBlock by
Diff: main.cpp
- Revision:
- 7:500e2c97a690
- Parent:
- 5:3457e0e66104
diff -r 3457e0e66104 -r 500e2c97a690 main.cpp --- a/main.cpp Tue Feb 25 02:29:32 2014 +0000 +++ b/main.cpp Tue Feb 25 08:18:22 2014 +0000 @@ -1,7 +1,7 @@ #include "mbed.h" #include "HMC6352.h" /*PING DEFINE */ -#define ERROR_PING 0xFFF +#define ERROR_PING 0xFF #define ALL_PING 4 /*IR DEFINE*/ #define BREAKPT_IR 833 @@ -9,7 +9,7 @@ #define ALL_IR 10 //#define OVERLINE_IR 46 /*LINE DEFINE*/ -#define JUDGEVOL_LINE 0.9 +#define JUDGEVOL_LINE 0.8 #define ALL_LINE 4 //OTHERS #define ALL_KIND 3 //kind of sensors @@ -99,12 +99,13 @@ } time_ping.reset(); while(sensor_ping){ - if(time_ping.read_ms() >18.5){ + if(time_ping.read_ms() >18.5){//18.5 time_ping.stop(); return ERROR_PING; } } memory = time_ping.read_us(); + memory >>= 6; time_ping.stop(); return memory; @@ -190,23 +191,24 @@ value_compass[1] = 0; } moving_ave(Ping,num[Ping],ping_function(num[Ping])); - pc.printf("compass0=%d compass[0]= %d compass[1]= %d\n",value_compass0,value_compass[0],value_compass[1]); - //ir_min_fun(); - //num[Ping]++; - //num[Ir]++; - //num[Line]++; + moving_ave(Line,num[Line],line_function(num[Line])); + moving_ave(Ir,num[Ir],ir_function(num[Ir])); + ir_min_fun(); + //pc.printf("%d,%d\n",value_ir_min,ir_min_num); + num[Ping]++; + num[Ir]++; + num[Line]++; if(num[Ping]>= ALL_PING){ num[Ping] = 0; - putchar('\n'); + //putchar('\n'); } if(num[Ir]>= ALL_IR){ num[Ir] = 0; - putchar('\n'); - pc.printf("min=%d ,num = %d\n",value_ir_min,ir_min_num); + //putchar('\n'); } if(num[Line]>= ALL_LINE){ num[Line] = 0; - putchar('\n'); + //putchar('\n'); } }