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TimothyKuehn · Apr 29, 2023 · deb1e16 · deb1e16
1 parent 896f1fa
commit deb1e16
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Showing 2 changed files with 25 additions and 19 deletions.
diff --git a/Scanner.c b/Scanner.c
@@ -1,34 +1,38 @@
-
-
 /**
  * scanner.c
  * Author grantiepoo
  */
 
+#include "adc.h"
+#include "servo.h"
+#include "ping.h"
+
+
 volatile int rawVal[60];
 void scannerIR(void)
 {
-    int val0, val1;
-
-	int i;
-	for (i = 0;i < 180; i+=3)
-	{
-	    val1 = adc.read();
-	    val2 = adc.read();
-	    rawVal[i] = (val1 + val2) / 2;
-	    servo_move(i);
-	}
+    int val1, val2;
+
+    int i;
+    for (i = 0;i < 181; i+=3)
+    {
+        val1 = read();
+        val2 = read();
+        rawVal[i/3] = (val1 + val2) / 2;
+        servo_move(i);
+    }
+
 }
 
 
-float scannerPING(int angle)
+double scannerPING(int angle)
 {
-    float val0, val1, val2;
-    float distance;
+    double val0, val1, val2;
+    double distance;
     servo_move(angle);
-    val0 = ping_getDistance;
-    val1 = ping_getDistance;
-    val2 = ping_getDistance;
+    val0 = ping_getDistance();
+    val1 = ping_getDistance();
+    val2 = ping_getDistance();
 
     distance = (val0 + val1 + val2) / 3;
     return distance;

diff --git a/Scanner.h b/Scanner.h
@@ -8,8 +8,10 @@
 #ifndef SCANNER_H_
 #define SCANNER_H_
 
+extern volatile int rawVal[];
+
 void scannerIR(void);
-float scannerPING(int angle);
+double scannerPING(int angle);