matthias
/
Micromouse
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Turn on other lidars, untested

This commit is contained in:
Matthias Portzel 2024-04-23 22:21:03 -04:00
parent d12da1a678
commit ea9f00344a
No known key found for this signature in database
1 changed files with 26 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
src/rp2040-bot.zig
View File

@ -453,8 +453,8 @@ var lidar_front_right: LiDAR = undefined;
var lidar_back_right: LiDAR = undefined;
var lidar_front_left: LiDAR = undefined;
var lidar_back_left: LiDAR = undefined;
// const lidars = [_]*LiDAR{&lidar_front, &lidar_front_right, &lidar_back_right, &lidar_front_left, &lidar_back_left};
const lidars = [_]*LiDAR{&lidar_front};
const lidars = [_]*LiDAR{&lidar_front, &lidar_front_right, &lidar_back_right, &lidar_front_left, &lidar_back_left};
// const lidars = [_]*LiDAR{&lidar_front};
fn updateLidars () void {
for (lidars) |lidar| {
@ -527,34 +527,32 @@ pub fn setup () void {
lidar_front.setAddress(nextLiDARAddress);
nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
if (lidar_front.read8(0x00) == 0xB4) {
pins.led_4.put(0);
}else {
pin_error(0b011111);
}
// // Turn on LED 4
// These 4 are not yet connected
// // front left
// pins.lidar_front_left_ce.put(1);
// lidar_front_left.setAddress(nextLiDARAddress);
// nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// front left
pins.lidar_front_left_ce.put(1);
time.sleep_ms(1);
lidar_front_left.setAddress(nextLiDARAddress);
nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// // front right
// pins.lidar_front_right_ce.put(1);
// lidar_front_right.setAddress(nextLiDARAddress);
// nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// front right
pins.lidar_front_right_ce.put(1);
time.sleep_ms(1);
lidar_front_right.setAddress(nextLiDARAddress);
nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// // back left
// pins.lidar_back_left_ce.put(1);
// lidar_back_left.setAddress(nextLiDARAddress);
// nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// back left
pins.lidar_back_left_ce.put(1);
time.sleep_ms(1);
lidar_back_left.setAddress(nextLiDARAddress);
nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// // back right
// pins.lidar_back_right_ce.put(1);
// lidar_back_right.setAddress(nextLiDARAddress);
// nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// back right
pins.lidar_back_right_ce.put(1);
time.sleep_ms(1);
lidar_back_right.setAddress(nextLiDARAddress);
nextLiDARAddress = @enumFromInt(@intFromEnum(nextLiDARAddress) + 1);
// for (lidar_ce_pins) |pin| {
// pin.set_direction(.out);
@ -682,10 +680,10 @@ pub fn testUpdate () void {
pins.led_6.toggle();
pins.led_1.put(if (lidar_front.range > 50) 1 else 0);
// pins.led_2.put(if (lidar_front_right.range > 50) 1 else 0);
// pins.led_3.put(if (lidar_front_left.range > 50) 1 else 0);
// pins.led_4.put(if (lidar_back_left.range > 50) 1 else 0);
// pins.led_5.put(if (lidar_back_right.range > 50) 1 else 0);
pins.led_2.put(if (lidar_front_right.range > 50) 1 else 0);
pins.led_3.put(if (lidar_front_left.range > 50) 1 else 0);
pins.led_4.put(if (lidar_back_left.range > 50) 1 else 0);
pins.led_5.put(if (lidar_back_right.range > 50) 1 else 0);
time.sleep_ms(100);
}