From 2c86f5df940372d8d50a82c56a5929faba7e39e2 Mon Sep 17 00:00:00 2001 From: akdslr Date: Mon, 21 Jul 2014 10:05:35 -0400 Subject: [PATCH] AP_RangeFinder: Updated RFIND_test example to not use Auto and added more device details --- .../examples/RFIND_test/RFIND_test.pde | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.pde b/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.pde index 6573d11190..bc6e75c705 100644 --- a/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.pde +++ b/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.pde @@ -40,9 +40,10 @@ void setup() // print welcome message hal.console->println("Range Finder library test"); - // setup for auto-detect with analog pin 13 - AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", RangeFinder::RangeFinder_TYPE_AUTO); + // setup for analog pin 13 + AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", RangeFinder::RangeFinder_TYPE_ANALOG); AP_Param::set_object_value(&sonar, sonar.var_info, "_PIN", 13); + AP_Param::set_object_value(&sonar, sonar.var_info, "_SCALING", 3.10); // initialise sensor, delaying to make debug easier hal.scheduler->delay(2000); @@ -53,7 +54,12 @@ void loop() { // Delay between reads hal.scheduler->delay(100); + + hal.console->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors()); + hal.console->printf_P(PSTR("Primary: health %d distance_cm %d \n"), (int)sonar.healthy(), sonar.distance_cm()); + hal.console->printf_P(PSTR("All: device_0 type %d health %d distance_cm %d, pin %d, device_1 type %d health %d distance_cm %d, pin %d\n"), + (int)sonar._type[0], (int)sonar.healthy(0), sonar.distance_cm(0), sonar._pin[0], (int)sonar._type[1], (int)sonar.healthy(1), sonar.distance_cm(1), sonar._pin[1]); - hal.console->printf("Distance %.2f\n", (float)sonar.distance_cm()); + hal.console->printf("Distance %.2f, Voltage-first %d, Voltage-second %d\n", (float)sonar.distance_cm(), sonar.voltage_mv(0), sonar.voltage_mv(1)); } AP_HAL_MAIN();