RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Removed printfs

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This commit is contained in:
Pascal Serrarens 2023-12-04 10:44:54 +01:00
parent b2914e437b
commit d348070092
2 changed files with 35 additions and 34 deletions
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3
Perception.cpp
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@ -1,6 +1,6 @@
#include "Perception.h" #include "Perception.h"
#include "Angle.h"
#include <Arduino.h> #include <Arduino.h>
#include "Angle.h"
DistanceSensor* Perception::GetSensor(float angle) { DistanceSensor* Perception::GetSensor(float angle) {
angle = Angle::Normalize(angle); angle = Angle::Normalize(angle);
@ -12,7 +12,6 @@ DistanceSensor *Perception::GetSensor(float angle) {
} }
DistanceSensor* distanceSensor = new DistanceSensor(); DistanceSensor* distanceSensor = new DistanceSensor();
Serial.printf("New sensor ADDED %f \n", angle);
Placement* newPlacement = new Placement(distanceSensor, angle); Placement* newPlacement = new Placement(distanceSensor, angle);
AddSensors(newPlacement, 1); AddSensors(newPlacement, 1);

10
Sensing.cpp
View File

@ -37,7 +37,9 @@ void Sensing::AddSensors(Placement *things, unsigned int thingCount) {
} }
} }
unsigned int Sensing::GetSensorCount() { return this->sensorCount; } unsigned int Sensing::GetSensorCount() {
return this->sensorCount;
}
Sensor* Sensing::GetSensor(unsigned int sensorId) { Sensor* Sensing::GetSensor(unsigned int sensorId) {
if (sensorId >= this->sensorCount) if (sensorId >= this->sensorCount)
@ -87,7 +89,6 @@ float Sensing::DistanceLeft(float angle) {
float Sensing::DistanceRight(float angle) { float Sensing::DistanceRight(float angle) {
float minDistance = INFINITY; float minDistance = INFINITY;
Serial.printf(" distance sensor count: %d\n", sensorCount);
for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) { for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
Placement placement = sensorPlacements[sensorIx]; Placement placement = sensorPlacements[sensorIx];
Sensor* sensor = (Sensor*)placement.thing; Sensor* sensor = (Sensor*)placement.thing;
@ -96,7 +97,6 @@ float Sensing::DistanceRight(float angle) {
DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing; DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
float sensorAngle = placement.direction.y; float sensorAngle = placement.direction.y;
Serial.printf(" distance sensor: 0 %f %f\n", sensorAngle, angle);
if (sensorAngle > 0 && sensorAngle < angle) { if (sensorAngle > 0 && sensorAngle < angle) {
minDistance = fmin(minDistance, distanceSensor->GetDistance()); minDistance = fmin(minDistance, distanceSensor->GetDistance());
} }
@ -200,7 +200,9 @@ void Sensing::SetRange(float min, float max) {
this->rangeMaximum = max; this->rangeMaximum = max;
} }
float *Sensing::GetDepthMap() { return this->depthMap; } float* Sensing::GetDepthMap() {
return this->depthMap;
}
void Sensing::SetDepthMap(float angle, float distance) { void Sensing::SetDepthMap(float angle, float distance) {
if (angle < rangeMinimum || angle > rangeMaximum) if (angle < rangeMinimum || angle > rangeMaximum)