void brain_run(void)
{
/* initialize components */
puts("[brain] initializing front distance sensor...");
if (srf02_init(&dist_front, CONF_DIST_FRONT_I2C, CONF_DIST_FRONT_ADDR) < 0) {
puts("[failed]");
return;
}
puts("[brain] initializing back distance sensor...");
if (srf02_init(&dist_back, CONF_DIST_BACK_I2C, CONF_DIST_BACK_ADDR) < 0) {
puts("[failed]");
return;
}
puts("[brain] initializing steering servo...");
if (servo_init(&steering, CONF_STEERING_PWM, CONF_STEERING_PWM_CHAN,
CONF_STEERING_MIN, CONF_STEERING_MAX) < 0) {
puts("[failed]");
return;
}
servo_set(&steering, CONF_STEERING_CENTER);
puts("[brain] initializing motor driver...");
if (motor_init(&mot, &mot_params)) {
puts("[failed]");
return;
}
/* go and have fun */
puts("[brain] components ready, all up an running!");
thread_create(stack, sizeof(stack),
CONF_PRIO_COL_DETECT, THREAD_CREATE_STACKTEST,
colllision_detection, NULL, "col detect");
}
int main(void)
{
int res;
puts("SRF02 ultrasonic ranger test application\n");
printf("Initializing SRF02 sensor at I2C_%i... ", TEST_SRF02_I2C);
res = srf02_init(&srf02_0, TEST_SRF02_I2C, SRF02_DEFAULT_ADDR, TEST_SRF02_SPEED);
if (res < 0) {
printf("[Failed]");
return 1;
}
else {
puts("[Ok]\n");
while(1) {
uint16_t distance = srf02_get_distance(&srf02_0, TEST_MODE);
printf("distance = %i cm\n", distance);
vtimer_usleep(SLEEP);
}
}
}
static int cmd_init(int argc, char **argv)
{
int res;
if (argc < 2) {
printf("usage: %s <addr (decimal)>\n", argv[0]);
return 1;
}
uint8_t addr = atoi(argv[1]);
printf("Initializing SRF02 sensor at I2C_DEV(%i), address is %i\n... ",
TEST_SRF02_I2C, (int)addr);
res = srf02_init(&dev, TEST_SRF02_I2C, addr);
if (res < 0) {
puts("[Failed]");
return 1;
}
else {
puts("[Ok]\n");
}
return 0;
}
