X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fsensorboard%2Fscanner.h;fp=projects%2Fmicrob2010%2Fsensorboard%2Fscanner.h;h=0000000000000000000000000000000000000000;hp=2a549c8829a7d3579d235a0cdcedae1d90475b81;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/sensorboard/scanner.h b/projects/microb2010/sensorboard/scanner.h
deleted file mode 100644
index 2a549c8..0000000
--- a/projects/microb2010/sensorboard/scanner.h
+++ /dev/null
@@ -1,158 +0,0 @@
-
-#define SCANNER_ENC         ((void *)1)
-
-/* relative motor position from mirror axis */
-#define X  4.5
-#define Y  -1.25
-
-/* length of motor arm*/
-#define l1  0.9
-
-/* length of bielle */
-#define l2  2.113
-
-/* length of mirror (rotating axe to bielle) */
-//#define l3  4.714
-#define l3  4.1613
-
-/* distance from telemetre to mirror axis */
-#define l_mirror  24.0
-
-/* higth between mirror axis and horizontal laser beam*/
-#define h_mirror  -1.0
-
-
-/* transform telemeter unit to cm
-   using linear approximation
-   d_telemetre = a * cm + b
-*/
-//#define TELEMETRE_A (16.76)
-//#define TELEMETRE_B (-476.)
-
-
-#define TELEMETRE_A_INIT 0.067325
-#define TELEMETRE_B_INIT 23.225
-
-
-extern double TELEMETRE_A;
-extern double TELEMETRE_B;
-
-
-
-
-#define SCAN_L_MIN 15.
-#define SCAN_L_MAX 40.
-
-#define SCAN_H_MAX 40.
-#define SCAN_H_COEF (255./(SCAN_H_MAX+10.))
-
-#define SCAN_MAX_DIST 70.
-
-#define MAX_SAMPLE (1500L)
-
-
-// TRUE encoder value: 3531.75
-#define SCANNER_STEP_TOUR (14127L)
-
-//#define PIX_PER_SCAN 30L
-#define PIX_PER_SCAN (25L)
-
-void scanner_init(void);
-void scanner_set_mode(uint8_t mode);
-
-void scanner_end_process(void);
-
-void scanner_calibre_laser(void);
-void scanner_calibre_mirror(void);
-
-
-void scanner_scan_autonomous(void);
-
-int32_t encoders_spi_update_scanner(void * number);
-int32_t encoders_spi_get_value_scanner(void *number);
-
-void do_scan(void * dummy);
-
-
-
-struct  scan_params{
-	uint16_t sample_i;
-	float offset_a;
-	float offset_b;
-	int speed;
-	uint8_t filter;
-	int32_t pos_start_scan;
-
-	int32_t last_col_n;
-	int32_t last_row_n;
-	uint8_t last_sample;
-
-	uint8_t debug;
-	uint8_t sample_tab[MAX_SAMPLE+10];
-	volatile uint8_t working;
-	uint8_t must_stop;
-
-
-	uint8_t algo;	
-
-
-	union {
-		struct {
-			uint8_t working_zone;
-			int16_t center_x;
-			int16_t center_y;
-		} drop_zone;
-		
-		struct {
-			uint8_t level;
-			int16_t temple_x;
-			int16_t temple_y;
-		} check_temple;
-	};
-
-
-
-	/* 
-	   for column drop zone answer
-	*/
-	int8_t dropzone_h;
-	int16_t dropzone_x;
-	int16_t dropzone_y;
-
-	uint8_t max_column_detected;
-};
-
-
-
-#define STEP_PER_ROUND 14127
-
-#define TELEMETRE_MIN 66
-#define TELEMETRE_MAX 466
-
-
-#define TELEMETRE_MIN_CM (25)
-#define TELEMETRE_MAX_CM (55)
-
-
-#define DIM_ANGLE (400/4)
-#define DIM_DIST ((TELEMETRE_MAX_CM - TELEMETRE_MIN_CM)*3)
-
-
-
-#define ANGLE_STEP (STEP_PER_ROUND/DIM_ANGLE +1)
-#define DIST_STEP ((TELEMETRE_MAX - TELEMETRE_MIN) /DIM_DIST +1)
-
-
-typedef struct _lookup_h_l{
-	uint16_t h:4;
-	uint16_t l:12;
-}lookup_h_l;
-
-#define telemetre_to_cm(t) 	((double)(TELEMETRE_A * ((double)(t)) + TELEMETRE_B))
-
-#define SCAN_DEFAULT_SPEED 600
-
-
-extern struct scan_params scan_params;
-
-