caperren/osurc_mars_rover_2017_2018
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Gripper control changed a bit, needs more work. Readouts for soil probe on gui, finished soil/rdf node.

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This commit is contained in:
Corwin Perren
2018-08-08 05:13:04 -07:00
parent 05b4c85ad2
commit 97cd60325d
20 changed files with 702 additions and 361 deletions
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31
software/firmware/tower/tower.ino
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@@ -131,6 +131,7 @@ void loop() {
poll_modbus();
set_leds();
send_imu_stream_line(root);
add_cal_status(root);
process_gps_and_send_if_ready(root);
process_white_led_command();
get_co2_data();
@@ -221,31 +222,17 @@ void setup_imu(){
// }
}
void display_cal_status(void)
void add_cal_status(JsonObject &root)
{
/* Get the four calibration values (0..3) */
/* Any sensor data reporting 0 should be ignored, */
/* 3 means 'fully calibrated" */
uint8_t system, gyro, accel, mag;
system = gyro = accel = mag = 0;
bno.getCalibration(&system, &gyro, &accel, &mag);
JsonObject& imu_cal_object = root.createNestedObject("imu_cal");
uint8_t system, gyro, accel, mag;
system = gyro = accel = mag = 0;
/* The data should be ignored until the system calibration is > 0 */
Serial.print("\t");
if (!system)
{
Serial.print("! ");
}
bno.getCalibration(&system, &gyro, &accel, &mag);
/* Display the individual values */
Serial.print("Sys:");
Serial.print(system, DEC);
Serial.print(" G:");
Serial.print(gyro, DEC);
Serial.print(" A:");
Serial.print(accel, DEC);
Serial.print(" M:");
Serial.println(mag, DEC);
imu_cal_object["gyro"] = gyro;
imu_cal_object["accel"] = accel;
imu_cal_object["mag"] = mag;
}
void process_gps_and_send_if_ready(JsonObject &root) {