Code for our FYDP -only one IMU works right now -RTOS is working
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calibrate_fnt.h
00001 void calibrate_fnt(int argc, char **argv) 00002 { 00003 //to fix for updated reckon 00004 /* 00005 if(argc != 4){ 00006 if(echo){ 00007 bt.lock(); 00008 bt.printf("Usage: calibrate [module] [setting] [value]\r\n"); 00009 bt.unlock(); 00010 return; 00011 } 00012 } 00013 00014 if( !strcmp(argv[1],"flow")){ 00015 if( !strcmp(argv[2],"dpmm") ){ 00016 float val = atof( argv[3] ); 00017 if (val != 0) 00018 opt_flow_L.pxPerMM = val; 00019 opt_flow_R.pxPerMM = val; 00020 if(echo){ 00021 bt.lock(); 00022 bt.printf("\r\npxPerMM = %.2f\r\n", opt_flow_L.pxPerMM); 00023 bt.unlock(); 00024 } 00025 } 00026 else if ( !strcmp(argv[2],"DPI") ){ 00027 if(!strcmp(argv[3],"high")){ 00028 opt_flow_L.reset(); 00029 opt_flow_R.reset(); 00030 if(echo){ 00031 bt.lock(); 00032 bt.printf("\r\nDPI set to high\r\n"); 00033 bt.unlock(); 00034 } 00035 } 00036 else if(!strcmp(argv[3],"low")){ 00037 opt_flow_L.setDPI(); 00038 opt_flow_R.setDPI(); 00039 if(echo){ 00040 bt.lock(); 00041 bt.printf("\r\nDPI set to low\r\n"); 00042 bt.unlock(); 00043 } 00044 } 00045 else{ 00046 if(echo) 00047 bt.printf("\r\nvalue can be \"low\" or \"high\"\r\n"); 00048 } 00049 }else{ 00050 if(echo) 00051 bt.printf("\r\nInvalid Setting Parameters\r\n"); 00052 } 00053 } 00054 else if( !strcmp(argv[1],"recon")){ 00055 if( !strcmp(argv[2],"k")){ 00056 float val = atof( argv[3] ); 00057 if (val > 0) 00058 k = val; 00059 if(echo) 00060 bt.printf("\r\nk = %.2f\r\n", k); 00061 } 00062 else if ( !strcmp(argv[2],"xproj") ){ 00063 float val = atof( argv[3] ); 00064 if (val != 0) 00065 reckon.forward_to_x_projection = val; 00066 if(echo) 00067 bt.printf("\r\nforward to x projection = %.5f\r\n", reckon.forward_to_x_projection); 00068 } 00069 else if ( !strcmp(argv[2],"radius") ){ 00070 float val = atof( argv[3] ); 00071 if (val != 0) 00072 reckon.r = val; 00073 if(echo) 00074 bt.printf("\r\nradius = %.2fmm\r\n", reckon.r); 00075 } 00076 else 00077 { 00078 if(echo) 00079 bt.printf("\r\nInvalid Setting Parameters\r\n"); 00080 } 00081 } 00082 else{ 00083 if(echo) 00084 bt.printf("\r\nInvalid Module Parameter\r\n"); 00085 } 00086 */ 00087 }
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