j.blanckenburg/rideheight-sensing
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Make VL6180x less noisy

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This commit is contained in:
Jasper Blanckenburg 2022-12-30 18:41:46 +01:00
parent 3681e11354
commit aaa59c29a9
2 changed files with 3 additions and 1 deletions
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3
src/rideheight_sensing.cpp
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@ -33,6 +33,9 @@ void RideheightSensing::spin() {
vl6180x_msg.header.stamp = ros::Time::now(); vl6180x_msg.header.stamp = ros::Time::now();
vl6180x_msg.range = vl6180x_range.range_mm / 1000.0f; vl6180x_msg.range = vl6180x_range.range_mm / 1000.0f;
vl6180x_pub.publish(vl6180x_msg); vl6180x_pub.publish(vl6180x_msg);
} else {
ROS_WARN("VL6180X Ranging error: %s",
VL6180x_RangeGetStatusErrString(vl6180x_range.errorStatus));
} }
ros::spinOnce(); ros::spinOnce();
loop_rate.sleep(); loop_rate.sleep();

1
src/vl6180x_glue.cpp
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@ -35,7 +35,6 @@ extern "C" {
int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) { int VL6180x_I2CWrite(VL6180xDev_t dev, uint8_t *buff, uint8_t len) {
int ret = write(i2c_dev_file, buff, len); int ret = write(i2c_dev_file, buff, len);
if (ret == len) { if (ret == len) {
ROS_INFO("Successfully wrote to I2C device");
return 0; return 0;
} else if (ret < 0) { } else if (ret < 0) {
ROS_ERROR("Error while writing to I2C device: %s", strerror(errno)); ROS_ERROR("Error while writing to I2C device: %s", strerror(errno));