From f4016e5523407c4d4050ef389e60dc8a3ce22799 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 13 Apr 2010 00:21:42 +0200 Subject: digital/io/src: store radar result --- digital/io/src/main.c | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) (limited to 'digital') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index fdc4bfcc..c013c055 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -76,6 +76,12 @@ enum team_color_e bot_color; */ uint8_t main_post_event_for_top_fsm = 0xFF; +/** Obstacles positions, updated using radar module. */ +vect_t main_obstacles_pos[2]; + +/** Number of obstacles in main_obstacles_pos. */ +uint8_t main_obstacles_nb; + /** * US sensors stats counters. */ @@ -242,20 +248,14 @@ main_loop (void) pwm_update (); /* Update US distance sensors. */ - usdist_update (); -#ifdef HOST - /* TODO: remove this: Quick radar test. */ - static uint32_t r = 0; - if (r++ % 50 == 0) + if (usdist_update ()) { - uint8_t obs_nb; - vect_t obs_pos[2]; position_t robot_pos; asserv_get_position (&robot_pos); - obs_nb = radar_update (robot_pos.v, robot_pos.a, obs_pos); - simu_send_pos_report (obs_pos, obs_nb, 0); + main_obstacles_nb = radar_update (robot_pos.v, robot_pos.a, + main_obstacles_pos); + simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0); } -#endif /* Update TWI module to get new data from the asserv board */ asserv_update_status (); -- cgit v1.2.3