aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_RangeFinder: Updated RFIND_test example to not use Auto and added more device details

Browse Source
This commit is contained in:
akdslr 2014-07-21 10:05:35 -04:00 committed by Andrew Tridgell
parent 8ea64e62f8
commit 2c86f5df94
1 changed files with 9 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.pde
View File

@ -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();