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Merge remote-tracking branch 'origin/main'

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Richie 2023-11-21 13:33:19 +08:00
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@ -36,6 +36,11 @@ Motor module consist of 4 components:
4. [motor_direction](frtos/motor/motor_direction.h): Sets the direction of the motor to control the car using bit masks. Includes functions that work with the magnetometer to turn the car to/by specific yaw. 4. [motor_direction](frtos/motor/motor_direction.h): Sets the direction of the motor to control the car using bit masks. Includes functions that work with the magnetometer to turn the car to/by specific yaw.
## Ultrasonic Sensor ## Ultrasonic Sensor
1. Ultrasonic sensor package is in `frtos/ultrasonic_sensor`, and its configuration is in `frtos/config/ultrasonic_sensor_config.h`. It contains the drivers and FreeRTOS tasks to output and read the ultrasonic sensor data.
2. [ultrasonic_init](frtos/ultrasonic_sensor/ultrasonic_init.h): Initialises the pins and struct stated in [ultrasonic_sensor_config](frtos/config/ultrasonic_sensor_config.h) and [car_config](frtos/config/car_config.h), and the free rtos tasks related. Call `ultrasonic_init` followed by `ultrasonic_tasks_init` to start.
3. The function check_obstacle() updates one of the parameter in the car's obstruction struct (s_obs_struct) in [car_config](frtos/config/car_config.h) to tell the car's whether it detects an obstruction .
## Line Sensor ## Line Sensor