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PET-68: Use old ultrasound module #36

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merged 1 commit into from
Jun 19, 2022
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PET-68: Use old ultrasound module #36

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feat: Use old ultrasound module (PET-68)
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@kullken
kullken committed Jun 19, 2022
commit e097f90dd025dc2fa53e39fa0d874bc44422367d
3 changes: 2 additions & 1 deletion pet_mk_iv_arduino/pet_mk_iv_uno/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ find_package(pet_mcu_common REQUIRED
engine_module
line_sensor_module
ultrasound_module
ultrasound_legacy_module
)

include(${ROSSERIAL_ARDUINO_TOOLCHAIN})
Expand All @@ -33,7 +34,7 @@ function(target_copy_property TARGET_FROM TARGET_TO PROPERTY)
endfunction()

add_library(pet_mk_iv_uno_deps INTERFACE)
foreach(DEPENDENCY pet::mcu_core pet::ros_lib pet::ultrasound_module pet::new_ping pet::engine_module pet::line_sensor_module)
foreach(DEPENDENCY pet::mcu_core pet::ros_lib pet::ultrasound_module pet::ultrasound_legacy_module pet::new_ping pet::engine_module pet::line_sensor_module)
target_copy_property(${DEPENDENCY} pet_mk_iv_uno_deps INTERFACE_SOURCES)
target_copy_property(${DEPENDENCY} pet_mk_iv_uno_deps INTERFACE_INCLUDE_DIRECTORIES)
endforeach()
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15 changes: 7 additions & 8 deletions pet_mk_iv_arduino/pet_mk_iv_uno/src/modules.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@

#include "engine_module.h"
#include "line_sensor_module.h"
#include "ultrasound_module.h"
#include "ultrasound_legacy_module.h"

namespace pet
{
Expand Down Expand Up @@ -32,19 +32,18 @@ ConfigResult configure_modules()
return ConfigResult::TimerRegistrationError;
}

constexpr int kSensorCount = 1;
// constexpr int kSensorCount = 3;
constexpr int kSensorCount = 3;
constexpr int ultrasound_pins[kSensorCount] = {
// A0,
A0,
A1,
// A2
A2
};
constexpr const char* sensor_ids[kSensorCount] = {
// "range_sensor/right",
"range_sensor/right",
"range_sensor/middle",
// "range_sensor/left"
"range_sensor/left"
};
static pet::UltrasoundModule<kSensorCount> ultrasound_module{ultrasound_pins, sensor_ids};
static pet::UltrasoundLegacyModule<kSensorCount> ultrasound_module{ultrasound_pins, sensor_ids};
if (!g_timer.register_module(&ultrasound_module)) {
return ConfigResult::TimerRegistrationError;
}
Expand Down