Continues Ranging and update rate #3
Description
I want to make continues ranging to make this:
ı changed
PRINTLN(F(" Ranging all anchors. Return to IDLE"));
updateState(STATE_IDLE);
to
PRINTLN(F(" Ranging all anchors. Return to IDLE"));
updateState(STATE_PONG);
and ı add some code to calculateRange function amd then received Continues Ranging like this:
123 , 158 , 182 , 93 , 96
31 , 158 , 185 , 93 , 96
31 , 158 , 185 , 85 , 96
30 , 158 , 185 , 85 , 100
123 , 153 , 185 , 85 , 100
31 , 153 , 194 , 85 , 100
31 , 153 , 194 , 88 , 100
30 , 153 , 194 , 88 , 99
121 , 150 , 194 , 88 , 99
31 , 150 , 172 , 88 , 99
31 , 150 , 172 , 93 , 99
30 , 150 , 172 , 93 , 99
123 , 151 , 172 , 93 , 99
31 , 151 , 170 , 93 , 99
the first row is delay time for every calculateRange(); others are anchors distance(cm)
as you can see sometimes there is a big delay like 120ms,
we can eliminate this delay?
whole code:
void calculateRange() {
DW1000Time round1 = (timePollAckReceived - timePollSent).wrap();
DW1000Time reply1 = (timePollAckSent - timePollReceived).wrap();
DW1000Time round2 = (timeRangeReceived - timePollAckSent).wrap();
DW1000Time reply2 = (timeRangeSent - timePollAckReceived).wrap();
DW1000Time tof = (round1 * round2 - reply1 * reply2)
/ (round1 + round2 + reply1 + reply2);
distance[idx_anchor] = tof.getAsMeters();
if(calHz == 0){
currentMillis = millis();
calHz = 1;
Serial.print( millis() - currentMillis2);
Serial.print(" , ");
}else{
calHz = 0;
currentMillis2 = millis();
Serial.print( millis() - currentMillis);
Serial.print(" , ");
}
Serial.print(round(distance[0]*100));
Serial.print(" , ");
Serial.print(round(distance[1]*100));
Serial.print(" , ");
Serial.print(round(distance[2]*100));
Serial.print(" , ");
Serial.println(round(distance[3]*100));
}