From 85f584f792696d27a6350f21981fa555dd7f20b9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 7 Apr 2010 23:51:59 +0200 Subject: digital/io/src: add temporary radar test, refs #129 --- digital/io/src/main.c | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) (limited to 'digital/io/src/main.c') 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 (); -- cgit v1.2.3