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-rw-r--r--digital/io/src/main.c17
1 files changed, 17 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index f61f5268..bb0a0205 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -46,6 +46,7 @@
#include "bot.h"
#include "servo_pos.h"
#include "usdist.h"
+#include "radar.h"
#include "chrono.h" /* chrono_end_match */
#include "pwm.h"
#include "playground.h"
@@ -242,6 +243,22 @@ main_loop (void)
/* Update US distance sensors. */
usdist_update ();
+#ifdef HOST
+ /* TODO: remove this: Quick radar test. */
+ static uint32_t r = 0;
+ if (r++ % 50 == 0)
+ {
+ uint8_t obs_nb;
+ vect_t obs_pos[2];
+ asserv_position_t cur_pos;
+ vect_t robot_pos;
+ robot_pos.x = cur_pos.x;
+ robot_pos.y = cur_pos.y;
+ asserv_get_position (&cur_pos);
+ obs_nb = radar_update (robot_pos, cur_pos.a, obs_pos);
+ simu_send_pos_report (obs_pos, obs_nb, 0);
+ }
+#endif
/* Update TWI module to get new data from the asserv board */
asserv_update_status ();