Marco Oehler
/
Lab5
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Revision 1:5201940a41c1, committed 2020-06-12
- Comitter:
- oehlemar
- Date:
- Fri Jun 12 08:19:42 2020 +0000
- Parent:
- 0:893a1e710078
- Commit message:
- asdf
Changed in this revision
--- a/HTTPServer.cpp Tue Apr 28 13:59:27 2020 +0000
+++ b/HTTPServer.cpp Fri Jun 12 08:19:42 2020 +0000
@@ -240,7 +240,7 @@
output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n";
output += " <script type=\"text/javascript\">\r\n";
output += " var xmlhttp = null;\r\n";
- output += " var task = window.setInterval(\"update()\", 100);\r\n";
+ output += " var task = window.setInterval(\"update()\", 250);\r\n";
output += " function update() {\r\n";
output += " if (window.XMLHttpRequest) {\r\n";
output += " xmlhttp = new XMLHttpRequest();\r\n";
--- a/LIDAR.cpp Tue Apr 28 13:59:27 2020 +0000
+++ b/LIDAR.cpp Fri Jun 12 08:19:42 2020 +0000
@@ -97,15 +97,41 @@
deque<Point> beacons;
// bitte implementieren!
- for (unsigned short i = 0; i < 358; i++) {
+ for (unsigned short i = 0; i < scan.size(); i++) {
+
+
+ bool beacon = true; // flag to check if this point is possibly a beacon
+
+
+ // check distance to other points
- if ((DISTANCES[i] < 1) && ((((DISTANCES[i+1]-DISTANCES[i])<0.1)&&(DISTANCES[i+2]-DISTANCES[i+1])<0.1))) { //||((DISTANCES[i+1]-DISTANCES[i])>0.5))
-
- beacons.push_back(Point(distances[i], (float)i*M_PI/180.0f));
+ for (unsigned short j = 0; j < scan.size(); j++) {
+
+ float distance1 = scan[i].manhattanDistance(scan[j]);
+ float distance2 = scan[i].manhattanDistance(scan[j+1]);
+ float distance3 = scan[i].manhattanDistance();
+
+ if (distance3 > 3.0f){
+
+ beacon = false; // this point cannot be part of a beacon
+
+ }
+
+ if ((distance1 > 0.1f) && (distance1 < 0.5f)) {//
+
+ beacon = false; // this point cannot be part of a beacon
+ }
+
+ if ((distance2 > 0.1f)) {
+
+ beacon = false; // this point cannot be part of a beacon
+ }
+
+ }
- }
+ if (beacon) beacons.push_back(scan[i]);
+ }
- }
return beacons;
}
--- a/Main.cpp Tue Apr 28 13:59:27 2020 +0000
+++ b/Main.cpp Fri Jun 12 08:19:42 2020 +0000
@@ -40,7 +40,7 @@
printf("Create ethernet interface and webserver (please wait!)...\r\n");
EthernetInterface* ethernet = new EthernetInterface();
- ethernet->set_network("169.254.20.110", "255.255.0.0", "0.0.0.0"); // configure IP address, netmask and gateway address
+ ethernet->set_network("192.168.201.44", "255.255.255.0", "169.168.201.1"); // configure IP address, netmask and gateway address
ethernet->connect();
HTTPServer* httpServer = new HTTPServer(*ethernet);
@@ -51,7 +51,13 @@
printf("Enter main loop...\r\n");
while (true) {
-
+ Timer timer;
+ timer.start();
+ lidar.getBeacons();
+ int duration = timer.read_us();
+ printf("Zeit für getBeacons: %d \r\n",duration);
+ timer.reset();
+ ThisThread::sleep_for(100);
// set LEDs on microcontroller
ledGreen = 1;