From a2a799c4ec81435c16e27ec3051a94c609dd550e Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Thu, 17 May 2012 02:17:47 +0200 Subject: digital/beacon: angle filtering --- digital/beacon/src/laser.c | 11 +++++------ digital/beacon/src/laser.h | 6 ++++++ 2 files changed, 11 insertions(+), 6 deletions(-) (limited to 'digital') diff --git a/digital/beacon/src/laser.c b/digital/beacon/src/laser.c index f5fca7ff..09f9368e 100644 --- a/digital/beacon/src/laser.c +++ b/digital/beacon/src/laser.c @@ -152,14 +152,13 @@ ISR(TIMER3_COMPB_vect) } else { - angle_to_send = laser_get_angle_raw() + (laser.angle_id << 9); + if(laser_get_angle_degree() < ANGLE_RANGE_MAX) + { + angle_to_send = laser_get_angle_raw() + (laser.angle_id << 9); #ifdef LOL_NUMBER_2 - angle_to_send = (CODEWHEEL_CPR/4 - laser_get_angle_raw()) + (laser.angle_id << 9); + angle_to_send = (CODEWHEEL_CPR/4 - laser_get_angle_raw()) + (laser.angle_id << 9); #endif - network_send_data(NETWORK_ANGLE_RAW,angle_to_send); - if((laser_get_angle_degree() > 30) && (laser_get_angle_degree() < 70)) - { - uprintf("angle[%d] = %f\r\n",laser.angle_id,laser_get_angle_degree()); + network_send_data(NETWORK_ANGLE_RAW,angle_to_send); laser.angle_id++; } } diff --git a/digital/beacon/src/laser.h b/digital/beacon/src/laser.h index f58cb3c8..721b7d96 100644 --- a/digital/beacon/src/laser.h +++ b/digital/beacon/src/laser.h @@ -30,6 +30,12 @@ #define SENDING_ENGAGED TIMSK3&(1<