This code is Information Amount Feedback (IAF) with HOKUYO URG.

Dependencies:   mbed

URG.h

Committer:
higedura
Date:
2015-01-16
Revision:
0:d2ef19170c3d

File content as of revision 0:d2ef19170c3d:

#include "ASCII.h"

int SCIP2   [8] =   {aS, aC, aI, aP, a2, aPeriod, aZero, aLF};

// kannsei site nakute gomennasai
// | MD | start step (4byte) | stop step (4byte) | N of assembled steps (2byte) | N of thinned scans (1byte) | N of transmissions (2byte) | LF (1byte) |
// If N of transmissions is 00, URG senses continuously. 0FR means Full Range, and 090 means that range is 90 degrees.
int MD_0FR01000[16] =   {aM, aD, aZero, aZero, a4, a4, aZero, a7, a2,    a5, aZero, a1, aZero, aZero, aZero, aLF};
int MD_0FR01001[16] =   {aM, aD, aZero, aZero, a4, a4, aZero, a7, a2,    a5, aZero, a1, aZero, aZero,    a1, aLF};
int MD_0FR01010[16] =   {aM, aD, aZero, aZero, a4, a4, aZero, a7, a2,    a5, aZero, a1, aZero,    a1, aZero, aLF};
int MD_09001000[16] =   {aM, aD, aZero,    a2, a5, a6, aZero, a5, a1,    a2, aZero, a1, aZero, aZero, aZero, aLF};
int MD_09001300[16] =   {aM, aD, aZero,    a2, a5, a6, aZero, a5, a1,    a2, aZero, a1,    a3, aZero, aZero, aLF};
int MD_09001900[16] =   {aM, aD, aZero,    a2, a5, a6, aZero, a5, a1,    a2, aZero, a1,    a9, aZero, aZero, aLF};
int MD_18001000[16] =   {aM, aD, aZero,    a1, a2, a8, aZero, a6, a4, aZero, aZero, a1, aZero, aZero, aZero, aLF};
int MD_18001100[16] =   {aM, aD, aZero,    a1, a2, a8, aZero, a6, a4, aZero, aZero, a1,    a1, aZero, aZero, aLF};
int MD_18001800[16] =   {aM, aD, aZero,    a1, a2, a8, aZero, a6, a4, aZero, aZero, a1,    a8, aZero, aZero, aLF};
int MD_18001900[16] =   {aM, aD, aZero,    a1, a2, a8, aZero, a6, a4, aZero, aZero, a1,    a9, aZero, aZero, aLF};
int MD_18001001[16] =   {aM, aD, aZero,    a1, a2, a8, aZero, a6, a4, aZero, aZero, a1, aZero, aZero,    a1, aLF};

int BM      [3] =   {aB, aM, aLF};
int QT      [3] =   {aQ, aT, aLF};
int RS      [3] =   {aR, aS, aLF};
int RT      [3] =   {aR, aT, aLF};
int TMstart [4] =   {aT, aM, aZero, aLF};
int TMrefer [4] =   {aT, aM, a1, aLF};
int TMstop  [4] =   {aT, aM, a2, aLF};
int SS576   [9] =   {aS, aS, aZero, a5, a7, a6, aZero, aZero, aLF};
int SS1152  [9] =   {aS, aS, a1, a1, a5, a2, aZero, aZero, aLF};
int VV      [3] =   {aV, aV, aLF};
int PP      [3] =   {aP, aP, aLF};
int II      [3] =   {aI, aI, aLF};