int main(int argc, char **argv) {
int k, N = STD_N, adcNumber = STD_ADCPIN, bench = BENCH_FLAG;
float yMax = STD_YMAX, lines = STD_LINES, DELTA = STD_DELTA;
mraa_aio_context adc;
struct timeval inicio, fim;
double tmili;
if (argc == 2) {
yMax = atof(argv[1]);
}
else if (argc == 3) {
yMax = atof(argv[1]);
lines = atof(argv[2]);
}
adc = mraa_aio_init(adcNumber);
if (adc == NULL) return 1;
hideCursor();
clear();
while (1) {
cplx samples[N];
double deltaFreq;
gettimeofday(&inicio, NULL);
for (k = 0; k < N; k++) {
uint16_t sample = mraa_aio_read(adc);
samples[k] = (cplx) 5*sample/(resolution - 1.0);
}
gettimeofday(&fim, NULL);
tmili = (double) (1000 *(fim.tv_sec - inicio.tv_sec) + (fim.tv_usec - inicio.tv_usec) / 1000);
deltaFreq = 1000.0 / tmili;
if (bench == 1) {
printf("\n>>>> Bench with:\n N=%d\n delta=%f\n", N, DELTA);
printf(">>>> Sample time : %.2fms\n", tmili);
printf(" deltaFreq : %.2fHz\n", deltaFreq);
printf(" max freq. : %.2fHz\n", 500*N/tmili);
}
runFFT(samples, N, DELTA, deltaFreq, bench, yMax, lines);
printCoord (N/2, 40);
}
mraa_aio_close(adc);
return 0;
}
void CLocomotion::lGoTo(int x, int y, bool detection)
{
if(detection) Timer5.start();
while(m_flag){
Serial.println("Blocked");
delay(50);
}
float distance = sqrt(pow(x-m_etat.x,2)+pow(y-m_etat.y,2));
if(distance==0) return;
// Serial.print("distance : ");
// Serial.print(distance);
//from origin to new pos
int phi = (int)(asin((y-m_etat.y)/distance)*180.0F/PI);
Serial.print("phi : ");
Serial.print(phi);
if(x-m_etat.x<0) phi = 180- phi;
//Final theta
int phiF = phi;
if (phiF<0) phiF += 360;
// between actual and new pos
int psi = phi - m_etat.theta;
Serial.print("psi : ");
Serial.print(psi);
if(abs(psi) < 180){
if(psi > 0) lTurn(psi,RIGHT);
else lTurn(-psi,LEFT);
}
else{
if(psi > 0) lTurn(360-psi,LEFT);
else lTurn(360+psi,RIGHT);
}
printCoord();
// Serial.println("Avancer");
delay(500);
lAvancer(distance,FORWARD);
printCoord();
//Correct final angle
delay(500);
Serial.println("Correct FINAL THETA");
int corTheta = getCurrentTheta() - phiF;
if(abs(corTheta)<180){
if(corTheta <0) lTurn(- corTheta,RIGHT);
else{
if (corTheta > 0) lTurn(corTheta,LEFT);
}
}
else {
if(corTheta <0) lTurn(360+corTheta,LEFT);
else{
if (corTheta > 0) lTurn(360-corTheta,RIGHT);
}
}
printCoord();
}
void printParam()
{
std::cout << "class CPlane" << std::endl;
printCoord();
printGeneralParam();
std::cout << "; height = " << m_height << "; num_pass = "******"\n \n" <<std::endl;
}
void printParam()
{
std::cout << "class ССаr" << std::endl;
printCoord();
printGeneralParam();
std::cout << "\n \n" <<std::endl;
}
void printParam()
{
std::cout << "class CShip" << std::endl;
printSpeed();
printCoord();
printGeneralParam();
std::cout << "; port_registry = " << m_port_registry << "; num_pass = "******"\n \n" <<std::endl;
}
/*
recap on C peculiarities. Pointers, passing by value/reference, passing arrays.
classes
*/
int main(int argc, char *argv[]){
unsigned int array1[] = {1,2,3,4,5};
printarray(array1,sizeof(array1)/sizeof(unsigned int));
printptr(array1+2);
array1[2] = 12;
printptr(array1+2);
printarray(array1,sizeof(array1)/sizeof(unsigned int));
Coord xxx = {
101, // should be x
2320, // should be y
-1}; // should be bla
printf("bla = %d\n",xxx.bla);
printf("x = %d\n",xxx.x);
printf("y = %d\n",xxx.y);
printCoord(xxx);
printCoord(xxx);
printarray2(array1,sizeof(array1)/sizeof(unsigned int));
}
void inputCoord(COORDINATE* target)
{
scanf(" %c%d", &(target->column), &(target->row));
target->column = toupper(target->column);
printf("Target entered: "); printCoord(target); printf("\n");
}
