r2maeh2/engine_control
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react to collision detection randomized

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This commit is contained in:
Thomas Klaehn 2016-09-19 16:18:04 +02:00
parent 53215d9815
commit 14e353ce47
1 changed files with 3 additions and 2 deletions
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5
source/application/collision_ctrl.c
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@ -37,6 +37,7 @@ static void collision_ctrl_loop(void *arg)
{ {
drv_open(&pwm5_c2); /* trigger pwm */ drv_open(&pwm5_c2); /* trigger pwm */
drv_open(&pwm2_c4); /* read pwm */ drv_open(&pwm2_c4); /* read pwm */
drv_open(&rng);
while(1) { while(1) {
int pulse_ns = drv_ioctl(&pwm2_c4, IOCTL_PWM_GET_PULSE_WIDTH_NS, NULL); int pulse_ns = drv_ioctl(&pwm2_c4, IOCTL_PWM_GET_PULSE_WIDTH_NS, NULL);
collision_ctrl_object.distance_mm = 343 * pulse_ns / 1000 / 2; collision_ctrl_object.distance_mm = 343 * pulse_ns / 1000 / 2;
@ -49,13 +50,13 @@ static void collision_ctrl_loop(void *arg)
sprintf(print_buffer, "going back...\r\n"); sprintf(print_buffer, "going back...\r\n");
shell_write(print_buffer, strlen(print_buffer)); shell_write(print_buffer, strlen(print_buffer));
drive_ctrl_backward(); drive_ctrl_backward();
sleep_ms(3000); /* todo: randomize */ sleep_ms(500);
drive_ctrl_halt(); drive_ctrl_halt();
sprintf(print_buffer, "start turning...\r\n"); sprintf(print_buffer, "start turning...\r\n");
shell_write(print_buffer, strlen(print_buffer)); shell_write(print_buffer, strlen(print_buffer));
drive_ctrl_turn_left(); drive_ctrl_turn_left();
sleep_ms(3000); sleep_ms(drv_read(&rng, Null, 0) % 3500 + 500); // rand between 500 and 4000
drive_ctrl_halt(); drive_ctrl_halt();
sprintf(print_buffer, "restart forward...\r\n"); sprintf(print_buffer, "restart forward...\r\n");