int sharp_distance() {
int count;
double sumLeft, sumRight, distance;
distanceL = distanceR = sumLeft = sumRight = 0.0;
for (count = 0; count < NUM_SAMPLES; count++) {
sumLeft += analog_read_millivolts(SHARP_L);
delay_us(4);
sumRight += analog_read_millivolts(SHARP_R);
delay_us(4);
}
distanceL = sumLeft / NUM_SAMPLES;
distanceR = sumRight / NUM_SAMPLES;
if(distanceL < distanceR)
distance = distanceL;
else
distance = distanceR;
distance = (12818.0 / (distance + 358.88)) + 1.0;
return (int)distance;
}
int main()
{
// Make SSbar be an output so it does not interfere with SPI communication.
set_digital_output(IO_B4, LOW);
// Set the mode to SVP_MODE_ANALOG so we can get analog readings on line D/RX.
svp_set_mode(SVP_MODE_ANALOG);
while(1)
{
clear(); // Erase the LCD.
if (usb_configured())
{
// Connected to USB and the computer recognizes the device.
print("USB");
}
else if (usb_power_present())
{
// Connected to USB.
print("usb");
}
if (usb_suspend())
{
// Connected to USB, in the Suspend state.
lcd_goto_xy(4,0);
print("SUS");
}
if (dtr_enabled())
{
// The DTR virtual handshaking line is 1.
// This often means that a terminal program is conencted to the
// Pololu Orangutan SVP USB Communication Port.
lcd_goto_xy(8,0);
print("DTR");
}
if (rts_enabled())
{
// The RTS virtual handshaking line is 1.
lcd_goto_xy(12,0);
print("RTS");
}
// Display an analog reading from channel D, in millivolts.
lcd_goto_xy(0,1);
print("Channel D: ");
print_long(analog_read_millivolts(CHANNEL_D));
// Wait for 100 ms, otherwise the LCD would flicker.
delay_ms(100);
}
}
int distance_sharp() {
char count;
double sumLeft, sumRight, distance;
distance = sumLeft = sumRight = 0.0;
for (count = 0; count < NUM_SAMPLES; count++) {
sumLeft += analog_read_millivolts(SHARP_L);
delay_us(4);
sumRight += analog_read_millivolts(SHARP_R);
delay_us(4);
}
if (sumLeft > sumRight)
distance = sumLeft / NUM_SAMPLES;
else
distance = sumRight / NUM_SAMPLES;
distance = (12818.0 / (distance + 358.88)) + 1.0;
return distance;
}
