Diff: main.cpp

Revision:

46:4030083b43b3

Parent:

45:96815f504b17

Child:

47:7508f9cc7a9b

--- a/main.cpp	Tue Mar 05 12:22:31 2019 +0000
+++ b/main.cpp	Tue Mar 05 13:09:54 2019 +0000
@@ -65,12 +65,11 @@
 
 int main()
 {
+    uint16_t ads_raw[4] = {};
+    float ird[4] = {};
     while (1) {
         // IR
-        uint16_t ads_raw[4] = {0, 0, 0,0};
-        for (uint8_t i=0; i < 4; i++) {
-            ads_raw[i] = ads.readADC_SingleEnded(i);
-        };
+
         uint16_t raw_a1 = ira1.read_u16();
         uint16_t raw_a2 = ira2.read_u16();
         uint16_t raw_a3 = ira3.read_u16();
@@ -93,17 +92,24 @@
         float dist_a6 = call_depan(raw_a6);
         float dist_a7 = call_depan(raw_a7);
         float dist_a8 = call_depan(raw_a8);
-        float dist_a9 = call_ads(ads_raw[1]);
-        float dist_a10 = call_ads(ads_raw[3]);
-        float dist_a11 = call_ads(ads_raw[2]);
-        float dist_a12 = call_ads(ads_raw[0]);
+//        float dist_a9 = call_ads(ads_raw[1]);
+//        float dist_a10 = call_ads(ads_raw[3]);
+//        float dist_a11 = call_ads(ads_raw[2]);
+//        float dist_a12 = call_ads(ads_raw[0]);
         float dist_b1 = call_depan(raw_b1);
         float dist_b2 = call_depan(raw_b2);
         float dist_b3 = call_depan(raw_b3);
         float dist_b4 = call_depan(raw_b4);
 
         pc.printf("ir atas\n");
-        pc.printf("%.2f   %.2f %.2f   %.2f\n", dist_a9, dist_a10, dist_a11, dist_a12);
+//        pc.printf("%.2f   %.2f %.2f   %.2f\n", dist_a9, dist_a10, dist_a11, dist_a12);
+        for (uint8_t i=0; i < 4; i++) {
+            ads_raw[i] = ads.readADC_SingleEnded(i);
+            ird[i] = call_ads(ads_raw[i]);
+            pc.printf("%.2f ", ird[i]);
+            wait_ms(10);
+        }; 
+        pc.printf("\n");
         pc.printf("%.2f               %.2f\n", dist_a3, dist_a1);
         pc.printf("%.2f               %.2f\n", dist_a4, dist_a6);
         pc.printf("%.2f   %.2f %.2f   %.2f\n", dist_a2, dist_a8, dist_a7, dist_a5);