From 51b917f7994d6d53fde11263ba4da3470fd2a6c4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 1 Jun 2011 15:26:22 +0200 Subject: digital/io-hub, host/simu: add codebar --- digital/io-hub/src/robospierre/main.c | 15 +++++++++++++++ 1 file changed, 15 insertions(+) (limited to 'digital/io-hub/src/robospierre/main.c') 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]; -- cgit v1.2.3