int isObjectDetected(void){
int reDist;
volatile int i;
#ifdef DISTANCE_DEBUG
char buf[7];
#endif
//get distance : AEB
distance[0]=sonarGetDistance();
#ifdef USE_PIR_SENSOR
for(i=1;i<3;i++){
distance[i] = getDistance(i-1);
}
#endif
#ifdef DISTANCE_DEBUG
for(i=0;i<3;i++){
intToChar(distance[i],7,buf);
TransmitData(buf);
TransmitData("-");
}
TransmitData("\r\n");
#endif
if(distance[0]<160){
reDist = distance[0];
}else{
reDist=OBJECT_NOT_DETECTED;
#ifdef USE_PIR_SENSOR
if((distance[1]<65)){
reDist = distance[1];
}else{
if(distance[2]<65){
reDist = distance[2];
}else{
reDist=OBJECT_NOT_DETECTED;
}
}
#endif
}
return reDist;
}
void Callback_10ms() {
sonarDistance = sonarGetDistance();
}