void Ultrasonic_Ranger() {
if(new_range)
{
new_range = 0;
range = read_ranger();
start_ping();
printf("\rRange: %d\n", range);
//set motor
if(range < 40) //forward
{
if(range > 10)
PW_SC = PW_MAX_SC - (PW_MAX_SC - PW_NEUTRAL_SC)*(range-10)/30.0;
else
PW_SC = PW_MAX_SC;
}
else if(range > 50) //reverse
{
if(range < 90)
PW_SC = PW_MIN_SC + (PW_NEUTRAL_SC - PW_MIN_SC)*(1 - (range-50)/40.0);
else
PW_SC = PW_MIN_SC;
}
else //neutral
PW_SC = PW_NEUTRAL_SC;
printf("\rPW: %u\n", PW_SC);
PCA0CPL2 = 0xFFFF - PW_SC;
PCA0CPH2 = (0xFFFF - PW_SC) >> 8;
}
}
//********************************************************************
// Main Functions
//********************************************************************
void main(void) { //Main function
Sys_Init(); // initialize board
putchar(' '); //the quotes in this line may not format correctly
Port_Init();//Init ports
XBR0_Init();//init xbro
PCA_Init();//init pca
SMB_Init();//init smb
printf("\r\n\n\n\nEmbedded Control Electric Compass and Ranger\n"); //print beginning message
Calibration();//Run calibration
comp_cal(); //Compass calibration
Choose_heading(); //Heading choice
printf("\r\nheading error");
while(1) { //inf loop, 40 ms it returns the heading
if (new_heading){ //enough overflows for a new heading COMPASS STUFF
new_heading = 0;//Clear new_heading
heading = ReadCompass(); //get compass heading
Steering_Servo(); //run steer func
}//end if new heading
if (new_range) { //if 80 ms has passed
new_range=0;//Clear new_range
range=ReadRanger();//read ranger
start_ping();//start ping
counts++;//set up text function
Drive_Motor(); //run drive func
}//end if new_range
if (counts == 3){ //prevoudly output prined every 200 ms, now every 180 ms
print_output();//Print data function. Delete this if faster output is desired
}//end if counts
}//end inf while
}//end main
JNIEXPORT jlong JNICALL
Java_com_cs4911_video_1editor_android_BandwidthMeasurement_launchLatencyTest(JNIEnv * env, jobject obj)
{
return start_ping();
}
