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Tritech Micron Sonar
alexsleat edited this page Jun 21, 2011
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Two nodes:
- sonarDriver
- sonarLoc
The sonarDriver takes care of talking to the sonar itself, it will initialize it and then begin collecting data from the sonar and storing it in a shared location which sonarLoc is able to access.
sonarLoc expects bearing in the form of gradients and expects the index of a bin which is higher than a pre-set threshold.
sonarDriver.cpp
Publishes:
- Bearing (1/16 Grad)
- Binaries (string of 45 bytes)
Subscribes:
sonarLoc.cpp
Publishes: Subscribes:
- Pin 1 : Black
- Pin 2 : Screen
- Pin 3 : Blue
- Pin 4 : Yellow
- Pin 5 : Green
- Pin 6 : Red