Diff: echo.h

Revision:

1:e2a6e523bf1f

Parent:

0:e9488589a8ee

Child:

4:904b737ef08a

diff -r e9488589a8ee -r e2a6e523bf1f echo.h
--- a/echo.h	Tue May 02 16:50:18 2017 +0000
+++ b/echo.h	Sat May 06 18:21:55 2017 +0000
@@ -1,5 +1,7 @@
-int obstacle[20];//13 steps [-90;+90] by 15 deg
-int echo_current_step;//[0;12], step = 6 => 0 deg
+int obstacle[100];//13 steps [-90;+90] by 15 deg
+int echo_current_step;//[0;36], (step=18) => 0 deg
+int echo_old_step;
+int echo_old_old_step;
 int echo_current_dir = -1;
 int echo_cm;
 float tmf;
@@ -9,34 +11,22 @@
 int max_dist_angle;
 int front_dist;
 
-
-
 Timer echo_timer;
 InterruptIn echo(PB_12);
 DigitalOut sonar_triger(PB_13);
 
-void echo_begin(){
+void echo_begin(){ //begin pulsewidth measurement
     echo_timer.reset();
     }
     
-void echo_end(){
+void echo_end(){ //end pulsewidth measurement
     echo_cm = echo_timer.read_us()/58;
     }
 
-void search(){
-   serva(-80);
-   wait_ms(200);
-   for(int point = 0;point <= 12;point ++){
-            serva(point*15-90);
-            wait_ms(100);
-            obstacle[point]=echo_cm;}      
-   }
-   
 void echo_start(){
     sonar_triger = 1;
     tmf=log(1.0);//delay 5us
-    tmf=log(1.0);//delay 5us
-    //for(int i = 0; i<2000; i++) {tmi++;}
+    tmf=log(2.0);//delay 5us
     sonar_triger = 0;//sonar start
     }
     
@@ -46,15 +36,35 @@
     echo_timer.start();
     }
     
-void echo_step(){
-    obstacle[echo_current_step]=echo_cm;
+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);}
+    }
+
+void echo_scan(){ // rewrite with argument: n or step //will not work in interrupt ??
+   serva(-90);
+   wait_ms(300);
+   for(int point = 0;point <= 12;point ++){
+            serva(point*15-90);
+            wait_ms(50);
+            echo_start();
+            wait_ms(50);
+            obstacle[point]=echo_cm;}      
+   }
+   
+void echo_step(bool transmit = 0){
+    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;
     echo_current_step += echo_current_dir;
-    if (echo_current_step > 12) {echo_current_step = 11 ; echo_current_dir = -1;} 
-    if (echo_current_step < 0) {echo_current_step = 1 ; echo_current_dir = 1;} 
-    serva(echo_current_step*15-90);
+    if (echo_current_step > 36) {echo_current_step = 35 ; echo_current_dir = -1; echo_transmit(37);} 
+    if (echo_current_step < 0) {echo_current_step = 1 ; echo_current_dir = 1; echo_transmit(37);} 
+    serva(echo_current_step*5-90);
     echo_start();
     }
-    
+
 bool analyze_obstacle(){
     min_dist = 400;max_dist = 0; front_dist = 400;
     for(int point = 0;point <= 12;point ++){
@@ -63,4 +73,8 @@
         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)
+    
     }
\ No newline at end of file