/**
* Arret du robot
*/
void die(void)
{
nx_display_string("dying...\n");
nx_motors_stop(LEFT_MOTOR, TRUE);
nx_motors_stop(RIGHT_MOTOR, TRUE);
nx_radar_close(RADAR_SENSOR);
bt_die();
nx_systick_wait_ms(2000);
nx_core_halt();
}
void tests_radar(void) {
#ifdef TEST_PORT4_I2C
U32 sensor = 3;
#else
U32 sensor = 2;
#endif
U8 reading;
S8 object;
U8 objects[8];
hello();
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_radar_init(sensor);
nx_display_string("Discovering...\n");
while (!nx_radar_detect(sensor)) {
nx_display_string("Error! Retrying\n");
nx_systick_wait_ms(500);
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_display_string("Discovering...\n");
}
nx_display_string("Found.\n\n");
nx_radar_info(sensor);
while (nx_avr_get_button() != BUTTON_OK);
// We are toggling between reading all values
// and reading them one after another. Just for fun and to test
// both ways to communicate with the US.
bool read_toggle = TRUE;
while (nx_avr_get_button() != BUTTON_RIGHT) {
// We are using the single shot mode, in continuous mode
// the US doesn't seem to measure more than one byte.
nx_radar_set_op_mode(sensor, RADAR_MODE_SINGLE_SHOT);
// Give the sensor the time to receive the echos and store
// the measurements.
nx_systick_wait_ms(100);
// Go on and read and display the values.
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
if( ! read_toggle ) {
memset(objects, 0, sizeof(objects));
if( ! nx_radar_read_all(sensor, objects) ) {
nx_display_string("Error reading!\n");
break;
}
}
for (object=0 ; object<8 ; object++) {
nx_display_uint(object);
nx_display_string("> ");
if( ! read_toggle )
reading = objects[object];
else
reading = nx_radar_read_distance(sensor, object);
if (reading > 0x00 && reading < 0xFF) {
nx_display_uint(reading);
nx_display_string(" cm");
} else {
nx_display_string("n/a");
}
if( ! object ) {
if( ! read_toggle )
nx_display_string(" (read8)");
else
nx_display_string(" (read1)");
}
nx_display_end_line();
}
read_toggle = ! read_toggle;
nx_systick_wait_ms(1000);
}
nx_radar_close(sensor);
goodbye();
}
