/* radar_defs.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2010 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "radar.h" #include "modules/devices/usdist/usdist.h" #include "playground_2012.h" /** Define radar configuration. */ struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = { #define RADAR_SENSOR_FRONT 0 { &usdist_mm[0], { 150, 0 }, G_ANGLE_UF016_DEG (0) }, #define RADAR_SENSOR_LEFT 1 { &usdist_mm[1], { 50, 147 }, G_ANGLE_UF016_DEG (0) }, #define RADAR_SENSOR_RIGHT 2 { &usdist_mm[2], { 50, -147 }, G_ANGLE_UF016_DEG (0) }, #define RADAR_SENSOR_BACK 3 { &usdist_mm[3], { -120, 0 }, G_ANGLE_UF016_DEG (180) }, }; /** Is radar currently moving? */ uint8_t radar_def_upper_clamp_moving_; /** Define exclusion area (considered as invalid point). */ uint8_t radar_valid (vect_t p, uint8_t sensor) { if (radar_def_upper_clamp_moving_ && sensor != RADAR_SENSOR_BACK) return 0; return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM && (sensor == RADAR_SENSOR_FRONT || sensor == RADAR_SENSOR_BACK || !(p.y >= PG_TOTEM_Y - PG_TOTEM_WIDTH_MM / 2 - RADAR_MARGIN_MM && p.y < PG_TOTEM_Y + PG_TOTEM_WIDTH_MM / 2 + RADAR_MARGIN_MM && ((p.x >= PG_TOTEM_LEFT_X - PG_TOTEM_WIDTH_MM / 2 - RADAR_MARGIN_MM && p.x < PG_TOTEM_LEFT_X + PG_TOTEM_WIDTH_MM / 2 + RADAR_MARGIN_MM) || (p.x >= PG_TOTEM_RIGHT_X - PG_TOTEM_WIDTH_MM / 2 - RADAR_MARGIN_MM && p.x < PG_TOTEM_RIGHT_X + PG_TOTEM_WIDTH_MM / 2 + RADAR_MARGIN_MM)))); } void radar_def_upper_clamp_moving (uint8_t moving) { radar_def_upper_clamp_moving_ = moving; }