summaryrefslogtreecommitdiffhomepage
path: root/digital/io-hub/src/robospierre/main.c
diff options
context:
space:
mode:
authorNicolas Schodet2011-06-01 15:26:22 +0200
committerNicolas Schodet2011-06-01 15:26:22 +0200
commit51b917f7994d6d53fde11263ba4da3470fd2a6c4 (patch)
treebcddd256b54a9be8a77eb190ed891b75ba91edc4 /digital/io-hub/src/robospierre/main.c
parentb2c12931a8378cdb2112da8b21b63099683516f5 (diff)
digital/io-hub, host/simu: add codebar
Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c15
1 files changed, 15 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 79c0fe2a..42a2809a 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -40,6 +40,7 @@
#include "pwm.h"
#include "contact.h"
+#include "codebar.h"
#include "radar.h"
#define FSM_NAME AI
@@ -77,6 +78,9 @@ static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
/** Contact stats counters. */
static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+/** Codebar stats counters. */
+static uint8_t main_stats_codebar_, main_stats_codebar_cpt_;
+
/** US sensors stats counters. */
static uint8_t main_stats_usdist_, main_stats_usdist_cpt_;
@@ -103,6 +107,7 @@ main_init (void)
/* IO modules. */
pwm_init ();
contact_init ();
+ codebar_init ();
usdist_init ();
/* AI modules. */
clamp_init ();
@@ -223,6 +228,12 @@ main_loop (void)
proto_send1d ('P', contact_all ());
main_stats_contact_cpt_ = main_stats_contact_;
}
+ if (main_stats_codebar_ && !--main_stats_codebar_cpt_)
+ {
+ proto_send2b ('B', codebar_get (DIRECTION_FORWARD),
+ codebar_get (DIRECTION_BACKWARD));
+ main_stats_codebar_cpt_ = main_stats_codebar_;
+ }
if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
{
proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
@@ -331,6 +342,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Contact stats. */
main_stats_contact_ = main_stats_contact_cpt_ = args[0];
break;
+ case c ('B', 1):
+ /* Codebar stats. */
+ main_stats_codebar_ = main_stats_codebar_cpt_ = args[0];
+ break;
case c ('U', 1):
/* US sensors stats. */
main_stats_usdist_ = main_stats_usdist_cpt_ = args[0];