ardupilot/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp

43 lines
1.2 KiB
C++

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