From d2a008921c898358807c82894f575bf68a953779 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Thu, 2 May 2013 18:41:17 +0200 Subject: digital/beacon: calibration is done directly using reflectors on others beacons --- digital/beacon/src/laser.c | 25 +++++++++++++++++++++---- 1 file changed, 21 insertions(+), 4 deletions(-) (limited to 'digital/beacon/src/laser.c') diff --git a/digital/beacon/src/laser.c b/digital/beacon/src/laser.c index 447ddcbd..9f5cea81 100644 --- a/digital/beacon/src/laser.c +++ b/digital/beacon/src/laser.c @@ -31,6 +31,8 @@ #include "codewheel.h" #include "calibration.h" #include "network_send_commands.h" +#include "uid.h" +#include "customisation.h" laser_s laser; @@ -139,14 +141,29 @@ ISR(TIMER3_COMPB_vect) else { /* If mire 1 is spotted */ - if(((laser_get_angle_degree() <= SERVO_1_ANGLE_POSITION + SERVO_ANGLE_POSITION_TOLERANCE) || (laser_get_angle_degree() >= 360 - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(SERVO_1) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(SERVO_1) == SERVO_SCANNING_SLOW_IN_PROGRESS))) + if(((laser_get_angle_degree() <= custom_get_mire_angle(1,get_uid()) + SERVO_ANGLE_POSITION_TOLERANCE) || (laser_get_angle_degree() >= 360 - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(custom_get_servoID_order(1,get_uid())) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(custom_get_servoID_order(1,get_uid())) == SERVO_SCANNING_SLOW_IN_PROGRESS))) { - calibration_set_laser_flag(SET_SERVO_1); + if(custom_get_servoID_order(1,get_uid()) == SERVO_1) + { + calibration_set_laser_flag(SET_SERVO_1); + } + else + { + calibration_set_laser_flag(SET_SERVO_2); + } } + /* If mire 2 is spotted */ - else if(((laser_get_angle_degree() <= SERVO_2_ANGLE_POSITION + SERVO_ANGLE_POSITION_TOLERANCE) && (laser_get_angle_degree() >= SERVO_2_ANGLE_POSITION - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(SERVO_2) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(SERVO_2) == SERVO_SCANNING_SLOW_IN_PROGRESS))) + else if(((laser_get_angle_degree() <= custom_get_mire_angle(2,get_uid()) + SERVO_ANGLE_POSITION_TOLERANCE) && (laser_get_angle_degree() >= custom_get_mire_angle(2,get_uid()) - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(custom_get_servoID_order(2,get_uid())) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(custom_get_servoID_order(2,get_uid())) == SERVO_SCANNING_SLOW_IN_PROGRESS))) { - calibration_set_laser_flag(SET_SERVO_2); + if(custom_get_servoID_order(2,get_uid()) == SERVO_1) + { + calibration_set_laser_flag(SET_SERVO_1); + } + else + { + calibration_set_laser_flag(SET_SERVO_2); + } } } } -- cgit v1.2.3