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authorNicolas Schodet2010-04-13 00:21:42 +0200
committerNicolas Schodet2010-04-13 00:21:42 +0200
commitf4016e5523407c4d4050ef389e60dc8a3ce22799 (patch)
treedd3e5fa618c2c4106ff931c48fdc094d16199b86 /digital/io
parent1c5d5350411f25fde6168c301b68fe7fe125cf0e (diff)
digital/io/src: store radar result
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/main.c20
1 files changed, 10 insertions, 10 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index fdc4bfcc..c013c055 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -76,6 +76,12 @@ enum team_color_e bot_color;
*/
uint8_t main_post_event_for_top_fsm = 0xFF;
+/** Obstacles positions, updated using radar module. */
+vect_t main_obstacles_pos[2];
+
+/** Number of obstacles in main_obstacles_pos. */
+uint8_t main_obstacles_nb;
+
/**
* US sensors stats counters.
*/
@@ -242,20 +248,14 @@ main_loop (void)
pwm_update ();
/* Update US distance sensors. */
- usdist_update ();
-#ifdef HOST
- /* TODO: remove this: Quick radar test. */
- static uint32_t r = 0;
- if (r++ % 50 == 0)
+ if (usdist_update ())
{
- uint8_t obs_nb;
- vect_t obs_pos[2];
position_t robot_pos;
asserv_get_position (&robot_pos);
- obs_nb = radar_update (robot_pos.v, robot_pos.a, obs_pos);
- simu_send_pos_report (obs_pos, obs_nb, 0);
+ main_obstacles_nb = radar_update (robot_pos.v, robot_pos.a,
+ main_obstacles_pos);
+ simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0);
}
-#endif
/* Update TWI module to get new data from the asserv board */
asserv_update_status ();