// ---------------------------------------------------------------------------------------------------------------------------------------------------
//
bool ofxOculusRift::init( int _width, int _height, int _fboNumSamples )
{
initFBO( _width, _height );
hmdWarpShader.load("Shaders/HmdWarp");
ofDisableArbTex();
ofFbo::Settings tmpSettings = ofFbo::Settings();
tmpSettings.width = _width/2;
tmpSettings.height = _height;
tmpSettings.internalformat = GL_RGB;
tmpSettings.textureTarget = GL_TEXTURE_2D;
tmpSettings.numSamples = _fboNumSamples;
eyeFboLeft.allocate( tmpSettings );
eyeFboRight.allocate( tmpSettings );
ofEnableArbTex();
setNearClip( 0.001f );
setFarClip( 2048.0f );
setFov( 90.0f );
setInterOcularDistance( -0.6f );
setShaderScaleFactor( 1.0f );
setDoWarping( true );
return initSensor();
}
task main(){
// This struct holds all the sensor related data
tDIMC compass;
displayCenteredTextLine(0, "Dexter Ind.");
displayCenteredBigTextLine(1, "dCompass");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
sleep(100);
while (true){
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
displayCenteredBigTextLine(2, "%3.2f", compass.heading);
displayTextLine(5, "%d", compass.axes[0]);
displayTextLine(6, "%d", compass.axes[1]);
displayTextLine(7, "%d", compass.axes[2]);
sleep(50);
}
}
task main () {
// declare and initialise the sensor
tTIR tir;
initSensor(&tir, S1);
displayCenteredTextLine(0, "Dexter Industries");
displayCenteredTextLine(1, "Thermal Infrared");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// set emissivity for light skin
setEmissivity(&tir, TIR_EM_SKIN_LIGHT);
sleep(200);
displayCenteredTextLine(0, "Dexter Industries");
displayCenteredTextLine(1, "Thermal Infrared");
while (true) {
// Read the currently detected ambient and object temp from the sensor
readSensor(&tir);
displayTextLine(3, "A: %3.2f", tir.ambientTemp);
displayTextLine(4, "O: %3.2f", tir.objectTemp);
sleep(100);
}
}
task main ()
{
// This struct holds all the sensor related data
tDIMC compass;
tSensors DIMC = S1;
// Our local variables
short strength = 0;
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
// Loop forever, reading the sensor and calulating total
// field strength
while (true)
{
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
// calculate the field strength
strength = sqrt(pow(compass.axes[0], 2) + pow(compass.axes[1], 2) + pow(compass.axes[2], 2));
// Play a tone of the frequency of the field strength
// Great for annoying the cat/dog/wife/parent
playImmediateTone(strength, 8);
// display on the screen
displayCenteredBigTextLine(3, "%d", strength);
sleep(50);
}
}
void CSensor::load()
{
if (m_handle)
{
char *error; error = nullptr;
TFGetStatistics getStatistics;
TFGetFrameAvialable getFrameAvialable;
MON_IMPORT(TFInitSensor , initSensor );
MON_IMPORT(TFGetName , getName );
MON_IMPORT(TFGetDefinition , getDefinition );
MON_IMPORT(TFGetDefinitionLength, getDefinitionLength);
MON_IMPORT(TFGetStatistics , getStatistics );
MON_IMPORT(TFGetFrameAvialable , getFrameAvialable );
initSensor(MON_ST_LOGGER, MON_ST_CONFIG->folder("sensors")->folder(name()));
setDefinition(getDefinition());
if(name().compare(getName()) != 0)
{
MON_LOG_ERR("Detected try to load sensor " << getName() << ", renamed to " << name());
}
for(auto &frame : definition()->frames())
{
m_frames[frame] = new CFrame(this, getStatistics, getFrameAvialable, frame);
}
}
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "600 and 1200 Hz");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S1);
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
// display the current DSP mode
if (irSeeker.mode == DSP_1200)
displayTextLine(0, " DC 1200");
else
displayTextLine(0, " DC 600");
while (true)
{
if (getXbuttonValue(xButtonEnter))
{
// "Enter" button has been pressed. Need to switch mode
irSeeker.mode = (irSeeker.mode == DSP_1200) ? DSP_600 : DSP_1200;
while(getXbuttonValue(xButtonEnter))
{
sleep(1);
}
break;
}
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d %4d 3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d %d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d %4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d %4d %3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d %4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d %4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
}
}
}
int HTS221::setOneShotMode(void)
{
/* Set one shot mode with the following parameters:
* - pressure and temperature internal average values: AVGT = 256 and AVGP = 512;
* - block data update bit in CTRL_REG1 set to 1;
* - power ON the sensor.
*/
return initSensor(0x3F,0x84);
}
task main()
{
//Create and configure struct for the compass:
// Create struct to hold sensor data:
tHTMC compass;
// Initialise and configure struct and port:
initSensor(&compass, S4);
//Define destination coordinates:
long destLat = 0; // Add the latitude destination here.
long destLong = 0; // Add the longitude destination here.
long GPSrelHeading;
long distance;
DGPSsetDestination(DGPS, destLat, destLong);
while (DGPSreadDistToDestination(DGPS) > 0) //Travelling to destination
{
GPSrelHeading = DGPSreadRelHeading(DGPS);
distance = DGPSreadDistToDestination(DGPS);
// Here, the relative heading of the GPS is set as the target heading of the compass;
// a compass.relativeHeading of 0 means the destination is straight ahead, > 0 heading means it
// is to the left, and < 0 means the dest is to the right.
readSensor(&compass);
compass.offset = GPSrelHeading;
displayTextLine(3, "GPSRelHead: %d", GPSrelHeading);
readSensor(&compass);
displayTextLine(5, "CompRelHead: %d", compass.relativeHeading);
displayTextLine(7, "Distance: %d", distance);
setMotorSpeed(LEFT, 75);
setMotorSpeed(RIGHT, 75);
readSensor(&compass);
if (compass.relativeHeading > 5) //If car is right of dest., turn left
{
steerLeft();
}
else if (compass.relativeHeading < -5) //If car is left of dest., turn right
{
steerRight();
}
else //dest. is forward
{
steerRecenter();
}
sleep(1000);
}
//Destination reached
setMotorSpeed(LEFT, 0);
setMotorSpeed(RIGHT, 0);
steerRecenter();
}
void
initTank(struct tankdef* theTank) {
int i;
strcpy(theTank->name, "noname");
strcpy(theTank->author, "noauthor");
strcpy(theTank->color, "#808080");
strcpy(theTank->program, "");
for(i=0; i<TANK_MAX_SENSORS; i++) {
initSensor(&theTank->sensors[i]);
}
}
KinectInput::KinectInput(bool sitMode, TrackingPoint hand)
: sitMode(sitMode)
{
kinectSensor = NULL;
nextSkeletonUpdate = NULL;
switchHand(hand);
handPos = { 0, 0, 0 };
initSensor();
}
task main () {
displayTextLine(0, "HT Gyro");
displayTextLine(1, "Test 1");
displayTextLine(5, "Press enter");
displayTextLine(6, "to set relative");
displayTextLine(7, "heading");
sleep(2000);
eraseDisplay();
// Create struct to hold sensor data
tHTGYRO gyroSensor;
// Initialise and configure struct and port
initSensor(&gyroSensor, S1);
time1[T1] = 0;
while(true) {
if (time1[T1] > 1000) {
eraseDisplay();
displayTextLine(1, "Resetting");
displayTextLine(1, "offset");
sleep(500);
// Start the calibration and display the offset
sensorCalibrate(&gyroSensor);
displayTextLine(2, "Offset: %f", gyroSensor.offset);
playSound(soundBlip);
while(bSoundActive) sleep(1);
time1[T1] = 0;
}
while(!getXbuttonValue(xButtonEnter)) {
eraseDisplay();
displayTextLine(1, "Reading");
// Read the current rotational speed
readSensor(&gyroSensor);
// Read the current calibration offset and display it
displayTextLine(2, "Offset: %4f", gyroSensor.offset);
displayClearTextLine(4);
// Read the current rotational speed and display it
displayTextLine(4, "Gyro: %4f", gyroSensor.rotation);
displayTextLine(6, "Press enter");
displayTextLine(7, "to recalibrate");
sleep(100);
}
}
}
task main()
{
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S3);
int leftSpeed = 40;
int rightSpeed = 40;
OpenWrite(
while (true)
{
int leftSum = irSeeker.dcValues[0] + irSeeker.dcValues[1];
int rightSum = irSeeker.dcValues[3] + irSeeker.dcValues[4];
if (leftSum < rightSum && rightSum - leftSum > 22)
{
leftSpeed = 40;
rightSpeed = -40;
}
else if (rightSum < leftSum && leftSum - rightSum > 22)
{
leftSpeed = -40;
rightSpeed = 40;
}
else
{
leftSpeed = -40;
rightSpeed = -40;
}
motor[frontRight] = rightSpeed;
motor[backRight] = rightSpeed;
motor[frontLeft] = leftSpeed;
motor[backLeft] = leftSpeed;
readSensor(&irSeeker);
writeDebugStreamLine("irSeeker values");
for (int i = 0; i < 5; i++)
{
writeDebugStreamLine("irSeeker[%d]: %d", i, irSeeker.dcValues[i]);
}
for (int i = 0; i < 5; i++)
{
writeDebugStreamLine("irSeeker[%d]: %d", i, irSeeker.dcValues[i]);
}
writeDebugStreamLine("-----------------------");
wait1Msec(50);
}
}
void BH1750Sensor::onCmdTestInst() {
if (!initSensor()) return;
tsl->SetSensitivity(1.00F);
for (int i=0; i < 100; i++) {
Serial << "AutoLux: "<< tsl->getLuxAutoScale() << endl;
measureMT(31);
measureMT(69);
measureMT(254);
Serial << endl;
menuHandler.loop();
delay(1000);
}
closeSensor();
}
void initializeRobot()
{
//eraseDisplay();
//servo[rampLease] = leaseInitial;
//servo[tail] = tailInitial;
//servo[rampDrop] = rampInitial;
nMotorEncoder[lift] = 0;
nMotorEncoder[leftFront] = 0;
nMotorEncoder[rightFront] = 0;
//clearDebugStream();
// Initialise and configure struct and port
initSensor(&irSeeker, seeker);
// startTask(irSeek);
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IRSeekr2");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
// Initialise and configure struct and port
initSensor(&irSeeker, msensor_S3_2);
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
displayCenteredTextLine(0, "DC 1200");
while (true)
{
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d:%4d:3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d:%d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d:%4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d:%4d:%3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d:%4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d:%4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
sleep(500);
}
}
void initNode (void) {
int i = 0;
uint8_t * ID_Sensor_List;
this.ID = SENSOR_NODE_ID;
this.num_sensors = getSensorNumber(); // dobbiamo modificare con la getSensorNumbers
this.authentication_key = SENSOR_NODE_KEY;
this.sensor = malloc(this.num_sensors*sizeof(Sensor));
ID_Sensor_List = malloc(this.num_sensors*sizeof(uint8_t));
getIDSensorList(ID_Sensor_List);
for (i = 0; i < this.num_sensors; i++) {
this.sensor[i].ID = ID_Sensor_List[i];
initSensor(&(this.sensor[i]));
}
}
task main () {
string _tmp;
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "Color V2");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
// Create struct to hold sensor data
tHTCS2 colorSensor;
// Initialise and configure struct and port
initSensor(&colorSensor, S1);
eraseDisplay();
while (true)
{
// Read the currently detected colour and RGB/HSV data from the sensor
if (!readSensor(&colorSensor)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredTextLine(0, "Color: %d", colorSensor.color);
displayCenteredBigTextLine(1, "R G B");
eraseRect(0,10, 99, 41);
fillRect( 0, 10, 30, 10 + (colorSensor.red+1)/8);
fillRect(35, 10, 65, 10 + (colorSensor.green+1)/8);
fillRect(70, 10, 99, 10 + (colorSensor.blue+1)/8);
StringFormat(_tmp, " %3d %3d", colorSensor.red, colorSensor.green);
displayTextLine(7, "%s %3d", _tmp, colorSensor.blue);
sleep(100);
}
}
task main () {
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "TMUX");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "This is for the");
displayCenteredTextLine(6, "Touch MUX");
sleep(2000);
// Create struct to hold sensor data
tHTTMUX touchMUX;
// Initialise and configure struct and port
initSensor(&touchMUX, S1);
while (true) {
eraseDisplay();
displayTextLine(0, "HT Touch MUX");
// Read the data from the sensor
readSensor(&touchMUX);
// Go through each possible touch switch attached to the TMUX
// and display whether or not is active (pressed)
for (short i = 0; i < 4; i++) {
if (touchMUX.status[i])
displayTextLine(i+2, "Touch %d: on", i+1);
else
displayTextLine(i+2, "Touch %d: off", i+1);
}
// Display the binary value of the active touch switches
// 0 = no touch, 1 = touch 1 active, 2 = touch 2 active, etc.
// touch 1 + touch 2 active = 1 + 2 = 3.
displayTextLine(7, "Mask: %d", touchMUX.statusMask);
sleep(50);
}
}
task main () {
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "Accel");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
playSound(soundBeepBeep);
while(bSoundActive) sleep(1);
// Create struct to hold sensor data
tHTAC accelerometer;
// Initialise and configure struct and port
initSensor(&accelerometer, S1);
while (true) {
eraseDisplay();
// Read all of the axes at once
if (!readSensor(&accelerometer)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayTextLine(0,"HTAC Test 1");
displayTextLine(2, " X Y Z");
displayTextLine(3, "%4d %4d %4d", accelerometer.x, accelerometer.y, accelerometer.z);
// Alternatively, you can read them like this:
displayTextLine(4, "%4d %4d %4d", accelerometer.axes[0], accelerometer.axes[1], accelerometer.axes[2]);
sleep(100);
}
}
void BH1750Sensor::setup(MenuHandler *handler) {
handler->registerCommand(new MenuEntry(F("bhTest"), CMD_EXACT, &BH1750Sensor::onCmdTest, F("")));
initSensor();
closeSensor();
}
task main () {
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "MAGNETIC");
displayCenteredTextLine(3, "Field Sensor");
displayCenteredTextLine(4, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
displayCenteredTextLine(5, "Press enter");
displayCenteredTextLine(6, "to set bias");
sleep(2000);
eraseDisplay();
// Create struct to hold sensor data
tHTMAG magneticSensor;
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
// Initialise and configure struct and port
initSensor(&magneticSensor, msensor_S1_1);
while(true) {
eraseDisplay();
displayTextLine(1, "Resetting");
displayTextLine(2, "bias");
sleep(500);
// Start the calibration and display the offset
sensorCalibrate(&magneticSensor);
displayTextLine(2, "Bias: %4d", magneticSensor.bias);
playSound(soundBlip);
while(bSoundActive) sleep(1);
while(getXbuttonValue(xButtonAny)) sleep(1);
while(!getXbuttonValue(xButtonEnter)) {
eraseDisplay();
// Read the sensor data
readSensor(&magneticSensor);
displayTextLine(1, "Reading");
// Display the current calibration value
displayTextLine(2, "Bias: %4d", magneticSensor.bias);
displayClearTextLine(4);
// Display the current magnetic field strength
displayTextLine(4, "Mag: %4d", magneticSensor.strength);
displayTextLine(6, "Press enter");
displayTextLine(7, "to recalibrate");
sleep(100);
}
}
}
void TSL2561Sensor::getData(LinkedList<Pair *> *data) {
if (!initSensor()) return;
data->add(new Pair("LUX", String(tsl->getLuxAutoScale())));
closeSensor();
}
void TSL2561Sensor::setup(MenuHandler *handler) {
//handler->regsterCommand(new MenuEntry(F("tslInit"), CMD_EXACT, &TSL2561Sensor::onCmdInit, F("")));
initSensor();
closeSensor();
}
int main(void) {
initTMR();
initSensor();
initMotor();
TRISButton = OUTPUT;
WEAKASSPULLUP = ENABLED;
TRISLEDR = OUTPUT;
TRISLEDF = OUTPUT;
TRISLEDL = OUTPUT;
while (1) {
switch (state) {
case idle:
stop();
if (button == PRESSED) state = debouncePress;
nextState = follow;
break;
case wait:
if (button == UNPRESSED) state = debounceRelease;
break;
case debouncePress:
delayUs(5000);
state = wait;
break;
case debounceRelease:
delayUs(5000);
state = nextState;
break;
case follow:
nextState = idle;
//delayUs(5000);
if (IFS0bits.AD1IF == 1) {
IFS0bits.AD1IF = 0;
front = getSensorFront();
left = getSensorLeft();
right = getSensorRight();
}
if ((right == ONTAPE || left == ONTAPE)) {
stop();
if (left == ONTAPE && front == OFFTAPE) alignLeft();
else if (right == ONTAPE && front == OFFTAPE) alignRight();
else if(right == ONTAPE && front == ONTAPE && left == ONTAPE) flip();
else forward();
}
else if (front == ONTAPE) {
forward();
}
/*else if(front == ONTAPE && (right == ONTAPE || left == ONTAPE)) {
stop();
if(turns < 3) turnRight();
else if (turns == 3) flip();
else turnLeft();
turns++;
}*/
if (button == PRESSED) state = debouncePress;
break;
}
}
}
int LPS25H::setOneShotMode(void)
{
return initSensor(0x84, 0x00, 0x05);
}
task gyro_loop () {
gyro_loop_state=INIT;
int dt=10;
unsigned long prevTime,currTime;
// Create struct to hold sensor data
tHTGYRO gyroSensor;
while(gyro_loop_state!=STOPPED) {
switch(gyro_loop_state)
{
case INIT:
// Initialise and configure struct and port
hogCPU();
initSensor(&gyroSensor, S3);
gyro_loop_state=CALIBRATION;
releaseCPU();
break;
case CALIBRATION:
sleep(1000);//let it settle down
#ifdef TESTING
eraseDisplay();
displayTextLine(1, "Resetting");
displayTextLine(2, "offset");
sleep(500);
#endif
hogCPU();
// Start the calibration
sensorCalibrate(&gyroSensor);
#ifdef TESTING
//and display the offset in testing mode
displayTextLine(2, "Offset: %f", gyroSensor.offset);
clearDebugStream();
writeDebugStreamLine("Offset: %f deadband: %f",gyroSensor.offset,gyroSensor.deadband);
playSound(soundBlip);
while(bSoundActive) sleep(1);
#endif
gHeading=0.0;
prevTime =nSysTime;
gyro_loop_state=READING;
releaseCPU();
break;
case READING:
while(gyro_loop_state==READING){
clearTimer(T2);
hogCPU();
// Read the current rotational speed
readSensor(&gyroSensor);
currTime = nSysTime;
gRot = gyroSensor.rotation;
//There is a possibility that nSysTime would reach max value of 32 bit long integer
//then wrapped around. But it would be NXT has run over 1000 hours
gHeading += gRot* (currTime-prevTime)/1000.0;
prevTime=currTime;
releaseCPU();
#ifdef TESTING
eraseDisplay();
displayTextLine(1, "Reading");
// Read the current calibration offset and display it
displayTextLine(2, "Offset: %f", gyroSensor.offset);
writeDebugStreamLine("Offset: %f deadband: %f", gyroSensor.offset, gyroSensor.deadband);
displayClearTextLine(4);
// Read the current rotational speed and display it
displayTextLine(4, "Gyro: %f", gyroSensor.rotation);
writeDebugStreamLine("Rotation: %f",gyroSensor.rotation);
displayTextLine(5, "Degrees: %f", gHeading);
writeDebugStreamLine("Heading: %f",gHeading);
displayTextLine(6, "Press enter");
displayTextLine(7, "to recalibrate");
#endif
while(time1[T2]<dt && gyro_loop_state==READING){
sleep(1);
}
}
break;
default:
//should never happen
break;
}
}
}
