Firmware support for RTR_520 with ESP32#272
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quentin-leboutet
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Mar 31, 2022
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The min and max functions need to be redefined so get it to build properly. Once this is done, I confirm that I can control the RTR_520 vehicle.
| const int PIN_LED_LI = 4; | ||
| const int PIN_LED_RI = 7; | ||
| //-------------------------RTR_520----------------------// | ||
| #elif (OPENBOT == RTR_520) |
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I need to redefine the min and max functions to get it to build:
#define max(a, b) \
( \
{ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a > _b ? _a : _b; \
})
#define min(a, b) \
( \
{ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a < _b ? _a : _b; \
})
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This should be fixed now with the fix below.
| const float US_TO_CM = 0.01715; //cm/uS -> (343 * 100 / 1000000) / 2; | ||
| const unsigned int MAX_SONAR_DISTANCE = -1; //cm | ||
| const unsigned int MAX_SONAR_DISTANCE = 300; //cm | ||
| const unsigned int MAX_SONAR_TIME = MAX_SONAR_DISTANCE * 2 * 10 / 343 + 1; |
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As discussed with Matthias, an alternative solution consists in changing this line to:
const unsigned long MAX_SONAR_TIME = (long)(MAX_SONAR_DISTANCE * 2 * 10 / 343 + 1);
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Updated as discussed.
quentin-leboutet
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Apr 4, 2022
lacykaltgr
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Jun 1, 2025
Firmware support for RTR_520 with ESP32
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