Code for our FYDP -only one IMU works right now -RTOS is working
Diff: bt_shell/shell/calibrate_fnt.h
- Revision:
- 0:964eb6a2ef00
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/bt_shell/shell/calibrate_fnt.h Wed Mar 18 22:23:48 2015 +0000 @@ -0,0 +1,87 @@ +void calibrate_fnt(int argc, char **argv) +{ + //to fix for updated reckon + /* + if(argc != 4){ + if(echo){ + bt.lock(); + bt.printf("Usage: calibrate [module] [setting] [value]\r\n"); + bt.unlock(); + return; + } + } + + if( !strcmp(argv[1],"flow")){ + if( !strcmp(argv[2],"dpmm") ){ + float val = atof( argv[3] ); + if (val != 0) + opt_flow_L.pxPerMM = val; + opt_flow_R.pxPerMM = val; + if(echo){ + bt.lock(); + bt.printf("\r\npxPerMM = %.2f\r\n", opt_flow_L.pxPerMM); + bt.unlock(); + } + } + else if ( !strcmp(argv[2],"DPI") ){ + if(!strcmp(argv[3],"high")){ + opt_flow_L.reset(); + opt_flow_R.reset(); + if(echo){ + bt.lock(); + bt.printf("\r\nDPI set to high\r\n"); + bt.unlock(); + } + } + else if(!strcmp(argv[3],"low")){ + opt_flow_L.setDPI(); + opt_flow_R.setDPI(); + if(echo){ + bt.lock(); + bt.printf("\r\nDPI set to low\r\n"); + bt.unlock(); + } + } + else{ + if(echo) + bt.printf("\r\nvalue can be \"low\" or \"high\"\r\n"); + } + }else{ + if(echo) + bt.printf("\r\nInvalid Setting Parameters\r\n"); + } + } + else if( !strcmp(argv[1],"recon")){ + if( !strcmp(argv[2],"k")){ + float val = atof( argv[3] ); + if (val > 0) + k = val; + if(echo) + bt.printf("\r\nk = %.2f\r\n", k); + } + else if ( !strcmp(argv[2],"xproj") ){ + float val = atof( argv[3] ); + if (val != 0) + reckon.forward_to_x_projection = val; + if(echo) + bt.printf("\r\nforward to x projection = %.5f\r\n", reckon.forward_to_x_projection); + } + else if ( !strcmp(argv[2],"radius") ){ + float val = atof( argv[3] ); + if (val != 0) + reckon.r = val; + if(echo) + bt.printf("\r\nradius = %.2fmm\r\n", reckon.r); + } + else + { + if(echo) + bt.printf("\r\nInvalid Setting Parameters\r\n"); + } + } + else{ + if(echo) + bt.printf("\r\nInvalid Module Parameter\r\n"); + } + */ +} \ No newline at end of file