mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
/*
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* RangeFinder test code
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_SerialManager serial_manager;
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static RangeFinder sonar {serial_manager, ROTATION_PITCH_270};
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void setup()
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{
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// print welcome message
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hal.console->printf("Range Finder library test\n");
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// setup for analog pin 13
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AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", RangeFinder::RangeFinder_TYPE_PLI2C);
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AP_Param::set_object_value(&sonar, sonar.var_info, "_PIN", -1.0f);
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AP_Param::set_object_value(&sonar, sonar.var_info, "_SCALING", 1.0f);
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// initialise sensor, delaying to make debug easier
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hal.scheduler->delay(2000);
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sonar.init();
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hal.console->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
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}
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void loop()
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{
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// Delay between reads
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hal.scheduler->delay(100);
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sonar.update();
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hal.console->printf("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n",
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(int)sonar.type(0), (int)sonar.status(0), sonar.distance_cm(0), (int)sonar.type(1), (int)sonar.status(1), sonar.distance_cm(1));
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}
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AP_HAL_MAIN();
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