LOC - Localizer Board (HYPE-90) - #75
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davidbeechey
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Looking good, sorry for the delay in accelerometer. Optical flow is merged now so that can be added to your sensor reading logic and passed to your localiser :)
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davidbeechey
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| loop { | ||
| // Wait for new Keyence stripe count. | ||
| let stripe_count1 = receiver1.get().await; | ||
| let stripe_count2 = receiver2.get().await; | ||
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| let flow = optical_flow.get_motion().await.unwrap(); | ||
| let optical_data: Vec<f64, 2> = Vec::from_slice(&[flow.x as f64, flow.y as f64]).unwrap(); | ||
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| defmt::info!( | ||
| "New Keyence stripe counts: sensor1 = {}, sensor2 = {}", | ||
| stripe_count1, | ||
| stripe_count2 | ||
| ); | ||
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| // Create the sensor data. (no accelerometer data) | ||
| let keyence_data: Vec<u32, 2> = Vec::from_slice(&[stripe_count1, stripe_count2]).unwrap(); | ||
| let accelerometer_data: RawAccelerometerData<NUM_ACCELEROMETERS, NUM_AXIS> = | ||
| RawAccelerometerData::from_slice(&[ | ||
| Vec::from_slice(&[0.0, 0.0, 9.81]).unwrap(), | ||
| Vec::from_slice(&[0.0, 0.0, 9.81]).unwrap(), | ||
| Vec::from_slice(&[0.0, 0.0, 9.81]).unwrap(), | ||
| Vec::from_slice(&[0.0, 0.0, 9.81]).unwrap(), | ||
| ]) | ||
| .unwrap(); | ||
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| match localizer.iteration(optical_data, keyence_data, accelerometer_data) { | ||
| Ok(()) => { | ||
| defmt::info!( | ||
| "Iteration OK: displacement = {} m, velocity = {} m/s, acceleration = {} m/s**2", | ||
| localizer.displacement, | ||
| localizer.velocity, | ||
| localizer.acceleration | ||
| ); | ||
| } | ||
| Err(e) => { | ||
| defmt::error!("Iteration error: {:?}", e); | ||
| } | ||
| } | ||
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| Timer::after(Duration::from_millis(100)).await; | ||
| } |
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I think the way this loop is written at the moment all of the sensors will need to have their value read before the localiser is updated. Is probs better to check if any value has been updated instead so that it's updating as often as possible
JoelHorrocks
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