Diff: echo.h

Revision:

17:bd6b6ac89e0e

Parent:

4:904b737ef08a

Child:

19:2fe650d29823

diff -r 6ec1aa32cf1f -r bd6b6ac89e0e echo.h
--- a/echo.h	Sat Dec 01 14:31:24 2018 +0000
+++ b/echo.h	Sun Feb 10 12:05:16 2019 +0000
@@ -1,4 +1,7 @@
+int obstacle_glaz[100];//13 steps [-90;+90] by 15 deg
+int obstacle_echo[100];//13 steps [-90;+90] by 15 deg
 int obstacle[100];//13 steps [-90;+90] by 15 deg
+int corrected_obstacle [100];
 int echo_current_step;//[0;36], (step=18) => 0 deg
 int echo_old_step;
 int echo_old_old_step;
@@ -39,7 +42,10 @@
 void   echo_transmit(int steps_number)  { //printf is not recommended for interrupts
     int tmstep;
     wifi.putc(0xff); //sync symbol
-    for(tmstep=0;tmstep<steps_number;tmstep++){wifi.putc((obstacle[tmstep]<500) ? obstacle[tmstep]/2 : 250);}
+    //for(tmstep = 0; tmstep < steps_number; tmstep ++){wifi.putc((obstacle_glaz[tmstep] < 500) ? obstacle_glaz[tmstep]/2 : 250);}
+    //for(tmstep = 0; tmstep < steps_number; tmstep ++){wifi.putc((obstacle_echo[tmstep] < 500) ? obstacle_echo[tmstep]/2 : 250);}
+    for(tmstep = 0; tmstep < steps_number; tmstep ++){wifi.putc((obstacle[tmstep] < 500) ? obstacle[tmstep]/2 : 250);}
+    for(tmstep = 0; tmstep < steps_number; tmstep ++){wifi.putc((corrected_obstacle[tmstep] < 500) ? corrected_obstacle[tmstep]/2 : 250);}
     }
 
 void echo_scan(){ // rewrite with argument: n or step //will not work in interrupt ??
@@ -50,11 +56,11 @@
             wait_ms(50);
             echo_start();
             wait_ms(50);
-            obstacle[point]=echo_cm;}      
+            obstacle[point] = echo_cm;}      
    }
    
 void echo_step(bool transmit = 0){
-    obstacle[echo_old_old_step]=echo_cm;
+    obstacle[echo_old_old_step] = echo_cm;
     //echo_transmit(echo_current_step);
     echo_old_old_step = echo_old_step;
     echo_old_step = echo_current_step;
@@ -64,17 +70,18 @@
     serva(echo_current_step*5-90);
     echo_start(); //the last to exit ticker interrupt ASAP
     }
-
-bool analyze_obstacle(){
-    min_dist = 400;max_dist = 0; front_dist = 400;
-    for(int point = 0;point <= 12;point ++){
-        if(obstacle[point]<min_dist) {min_dist=obstacle[point];min_dist_angle = point*15-90;}
-        if(obstacle[point]>max_dist) {max_dist=obstacle[point];max_dist_angle = point*15-90;}
-        if((obstacle[point]*abs(point-6)*3<15)&&(obstacle[point]<front_dist)) {front_dist=obstacle[point];}
-        }
-    if(front_dist < 20) return(1); else return(0);
-    }
-    
+   
 void echo_full_scan(int steps){ //scan by wheels (calculate speed)
     
+    }
+
+void glaz_init(){
+    glaz.setTimeout(500);
+    if (!glaz.init())
+    {
+        wifi.printf("Failed to detect and initialize sensor!");
+    }
+    glaz.setDistanceMode(VL53L1X::Long);
+    glaz.setMeasurementTimingBudget(50000);
+    glaz.startContinuous(50);
     }
\ No newline at end of file