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ft. button press reset
Fork of BeaconDemo_RobotCode by
Diff: beacon.cpp
- Revision:
- 7:ef9ab01b9e26
- Parent:
- 6:ff3c66f7372b
- Child:
- 9:085e090e1ec1
--- a/beacon.cpp Thu Oct 22 00:46:14 2015 +0000 +++ b/beacon.cpp Thu Oct 22 13:28:17 2015 +0000 @@ -203,7 +203,7 @@ } } else { beacon_found = 0; - if(beacon_detected_count > 7) out("Beacon not found: too many high samples [%d]\n",beacon_detected_count); + if(beacon_detected_count > 6) out("Beacon not found: too many high samples [%d]\n",beacon_detected_count); else out("Beacon not found: too few high samples [%d]\n",beacon_detected_count); } wait(1); @@ -297,6 +297,8 @@ }else{ if(sum > low_threshold){ robots_found[test_robot] = 1; + //Debug-- + //out("Robot %d: [%d][%d][%d][%d][%d][%d][%d][%d]\n",test_robot,ir_sensor_data[i][0],ir_sensor_data[i][1],ir_sensor_data[i][2],ir_sensor_data[i][3],ir_sensor_data[i][4],ir_sensor_data[i][5],ir_sensor_data[i][6],ir_sensor_data[i][7]); robots_heading[test_robot] = get_bearing_from_ir_array (ir_sensor_data[i]); robots_distance[test_robot] = highest; }else robots_found[test_robot] = 0;