int main(void) {
sei(); // enable interrupts
leds_init();
pwm_init();
bot_init();
i2c_init();
if (display_init()!=0) {
leds_set_displaylight(50);
if (display_type==2) {
gfx_init();
}
}
gfx_fill(0x00);
gfx_move(15, 0);
gfx_set_proportional(1);
gfx_print_text("nibo");
gfx_set_proportional(0);
uint8_t pos=0;
uint8_t state=0;
gfx_term_print("Move 0\n");
nds3_move(0);
while (nds3_get_busy()) {
delay(1);
}
while (1) {
gfx_draw_mode(GFX_DM_JAM2);
check_voltage();
//gfx_term_print("Measure 90, 15\n");
delay(1);
nds3_measure(180, 1);
while (nds3_get_busy()) {
delay(1);
}
delay(1);
//gfx_term_print("Read -90, 15\n");
do_plot();
delay(1);
nds3_measure(0, 1);
while (nds3_get_busy()) {
delay(1);
}
delay(1);
//gfx_term_print("Read 90, 15\n");
nds3_read(0, 15);
do_plot();
}
}
/**
* @brief scans the surrounding of the nibo with the nds3
* @param degree the angle resolution of the nds3 scan, defines the number of values returned -> (180/degree)+1
* @return the nds measurement
*/
uint8_t *ndsScan(uint8_t degree) {
uint8_t winkel = 0;
static uint8_t points[180] = {};
for(winkel = 0; winkel < 180; winkel = winkel + degree){
nds3_move(winkel);
//delay for the movement of the servo, more for the first move
if(winkel == 0){
delay(900);
}else {
delay(100);
}
//updating the coprozessor, to get the current value
copro_update();
points[winkel / degree] = nds3_get_dist();
}
nds3_move(90);
return points;
}
/**
* @brief initialize nds3 module
*/
void ndsScan_init(){
i2c_init();
nds3_move(90);
}
