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Commit 06a45f31 authored by jlKronos01's avatar jlKronos01
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Merge branch 'UWB'

parents ba8ead16 da185ea3
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with 105 additions and 119 deletions
Wireless_Communication/UWB/Anchor/Anchor1/Anchor1.ino
+ 12
− 14
View file @ 06a45f31
......@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR1
#define RX_TIMEOUT 5000
#define INTER_RANGING_DELAY 5
#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
......@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
deviceState state = RESPONDER;
void setup()
......@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
......@@ -121,16 +119,13 @@ void setup()
void loop()
{
// Reset global parameters
clearMacHeader(&txMHR);
clearMacHeader(&rxMHR);
rxLen = 0;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
frameReceived = 0;
switch (state) {
// Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
// hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
......@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
......@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
......
Wireless_Communication/UWB/Anchor/Anchor2/Anchor2.ino
+ 12
− 14
View file @ 06a45f31
......@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR2
#define RX_TIMEOUT 5000
#define INTER_RANGING_DELAY 5
#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
......@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
deviceState state = RESPONDER;
void setup()
......@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
......@@ -121,16 +119,13 @@ void setup()
void loop()
{
// Reset global parameters
clearMacHeader(&txMHR);
clearMacHeader(&rxMHR);
rxLen = 0;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
frameReceived = 0;
switch (state) {
// Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
// hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
......@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
......@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
......
Wireless_Communication/UWB/Anchor/Anchor3/Anchor3.ino
+ 12
− 14
View file @ 06a45f31
......@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR3
#define RX_TIMEOUT 5000
#define INTER_RANGING_DELAY 5
#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
......@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
deviceState state = RESPONDER;
void setup()
......@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
......@@ -121,16 +119,13 @@ void setup()
void loop()
{
// Reset global parameters
clearMacHeader(&txMHR);
clearMacHeader(&rxMHR);
rxLen = 0;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
frameReceived = 0;
switch (state) {
// Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
// hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
......@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
......@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
......
Wireless_Communication/UWB/Anchor/Anchor4/Anchor4.ino
+ 12
− 14
View file @ 06a45f31
......@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR4
#define RX_TIMEOUT 5000
#define INTER_RANGING_DELAY 5
#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
......@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
deviceState state = RESPONDER;
void setup()
......@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
......@@ -121,16 +119,13 @@ void setup()
void loop()
{
// Reset global parameters
clearMacHeader(&txMHR);
clearMacHeader(&rxMHR);
rxLen = 0;
macHeader txMHR, rxMHR;
bool frameReceived = 0;
bool ack;
size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
frameReceived = 0;
switch (state) {
// Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
// hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
......@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
......@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
// Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
......
Wireless_Communication/UWB/Beacons_tag_position/beacons_D_origin.py
+ 14
− 30
View file @ 06a45f31
......@@ -2,10 +2,10 @@ from scipy.optimize import least_squares
import numpy as np
# Measured distances arrive in order: A, E, D, B, F, C
measured_distances = [550.00,514.78,700.00,269.26,890.22,1051.19]
measured_distances = [1496.223841, 1503.259376, 677.756567, 945.575945, 1419.301988, 923.531267 ]
# Introduce ±10 cm of noise
noise_level = 10
noise_level =0
measured_distances_noisy = measured_distances + np.random.uniform(-noise_level, noise_level, size=len(measured_distances))
# Automatically generate a reasonable initial guess
......@@ -22,33 +22,16 @@ def generate_initial_guess(measured_distances):
return [x_B, y_B, x_C, y_C, y_A]
# Automatically generate reasonable bounds
def generate_bounds(measured_distances):
min_dist = min(measured_distances)
max_dist = max(measured_distances)
# Define lower and upper bounds based on measured distances
lower_bound = [
-max_dist / 2, # x_B lower bound
min_dist / 2, # y_B lower bound (above y_C)
-max_dist / 2, # x_C lower bound
min_dist / 4, # y_C lower bound
min_dist / 2 # y_A lower bound
]
upper_bound = [
max_dist * 1.5, # x_B upper bound
max_dist * 1.5, # y_B upper bound
max_dist * 1.5, # x_C upper bound
max_dist * 1.25, # y_C upper bound
max_dist * 1.5 # y_A upper bound
]
return lower_bound, upper_bound
# Generate the initial guess and bounds
# Generate the initial guess
initial_guess = generate_initial_guess(measured_distances_noisy)
lower_bounds, upper_bounds = generate_bounds(measured_distances_noisy)
# Define the error function with constraint y_B > y_C
# Simplified uniform bounds for all variables
bounds = ([-2000, -2000, -2000, -2000, -2000], [2000, 2000, 2000, 0, 2000])
# Ensure the initial guess is within bounds
initial_guess = np.clip(initial_guess, bounds[0], bounds[1])
# Define the error function
def error_function(variables, measured):
x_B, y_B, x_C, y_C, y_A = variables
......@@ -88,10 +71,11 @@ result_noisy = least_squares(
error_function,
initial_guess,
args=(measured_distances_noisy,),
bounds=(lower_bounds, upper_bounds),
bounds=bounds,
loss='soft_l1'
)
# Extract optimized coordinates
optimized_coords_noisy = result_noisy.x
print("Optimized coordinates with noise:", optimized_coords_noisy)
......
Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py
+ 11
− 11
View file @ 06a45f31
......@@ -196,7 +196,7 @@ class AnchorTagGUI:
# Guess for B based on distance A-B and B-D
x_B = measured_distances[0] / 2
y_B = measured_distances[4] / 2 + 100 # Start y_B above y_C
y_B = measured_distances[4] / 2 + 200 # Start y_B above y_C
# Guess for C based on distance C-D and A-C
x_C = measured_distances[5] / 2
......@@ -211,17 +211,17 @@ class AnchorTagGUI:
# Define lower and upper bounds based on measured distances
lower_bound = [
-max_dist / 2, # x_B lower bound
min_dist / 2, # y_B lower bound (above y_C)
-max_dist / 2, # x_C lower bound
min_dist / 4, # y_C lower bound
-max_dist, # x_B lower bound
-max_dist, # y_B lower bound (above y_C)
-max_dist, # x_C lower bound
-max_dist, # y_C lower bound
min_dist / 2 # y_A lower bound
]
upper_bound = [
max_dist * 1.5, # x_B upper bound
max_dist * 1.5, # y_B upper bound
max_dist * 1.5, # x_C upper bound
max_dist * 1.25, # y_C upper bound
max_dist * 1.5, # y_C upper bound
max_dist * 1.5 # y_A upper bound
]
return lower_bound, upper_bound
......@@ -274,14 +274,14 @@ class AnchorTagGUI:
)
optimized_coords_noisy = result_noisy.x
h=250
print(f"Optimized coordinates: {optimized_coords_noisy}")
# print(f"Optimized coordinates: {optimized_coords_noisy}")
self.anchors = {
"A1": (0, optimized_coords_noisy[4], h),
"A2": (optimized_coords_noisy[0], optimized_coords_noisy[1], h),
"A3": (optimized_coords_noisy[2], optimized_coords_noisy[3], h),
"A4": (0, 0, h),
}
print(self.anchors)
# print(self.anchors)
self.draw_canvas()
print(f"Optimized anchor coordinates: {self.anchors}")
return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
......@@ -416,7 +416,7 @@ class AnchorTagGUI:
canvas_width, canvas_height = 600, 600
center_x, center_y = canvas_width // 2, canvas_height // 2
scale_factor = 0.1
scale_factor = 0.2
# Determine avg anchor position for centering
if hasattr(self, 'anchors') and self.anchors:
......@@ -429,8 +429,8 @@ class AnchorTagGUI:
y_offset = center_y - avg_y
def transform_coordinates(x, y):
x_scaled = int((x + x_offset) * scale_factor) +100
y_scaled = int(canvas_height - (y + y_offset) * scale_factor) - 200
x_scaled = int((x + x_offset) * scale_factor) + 200
y_scaled = int(canvas_height - (y + y_offset) * scale_factor) - 250
return x_scaled, y_scaled
# Draw anchorss
......
Wireless_Communication/UWB/MAC_Responder/MAC_Responder.ino
+ 2
− 2
View file @ 06a45f31
......@@ -162,8 +162,8 @@ void loop()
// Send acknowledgement if AR bit is set
if (checkAckRequest(&rxMHR)) {
Serial.println("Sending acknowledgement...");
initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, 0x1234);
// initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
// initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, 0x1234);
initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
Serial.printf("ACK MHR: ");
for (int i = 0; i < MHR_LENGTH; i++) {
......
Wireless_Communication/UWB/Tag/Tag1/Tag1.ino
+ 30
− 20
View file @ 06a45f31
......@@ -29,7 +29,7 @@
#define RX_TIMEOUT 5000
#define INTER_RANGING_DELAY 5
#define TIMEOUT_MILLIS 300
#define TIMEOUT_MILLIS 2000
unsigned long startTime;
......@@ -124,6 +124,7 @@ void setup()
}
// Serial.println("CONFIG OK");
/* Configure the TX spectrum parameters (power PG delay and PG Count) */
// txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
......@@ -172,15 +173,15 @@ void loop()
if (strcmp(serialBuffer, "bpm") == 0) {
//Perform live checks on all 4 anchors
for (uint8_t beacon = ANCHOR1; beacon <= ANCHOR4; beacon++) {
ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, beacon, LIVE_CHECK, &rxMHR, 3);
// ack = 1; // DEBUGGING
anchorAcks[beacon - 1] = ack;
if (!ack) {allTrue = false;}
delay(INTER_RANGING_DELAY);
}
// for (uint8_t beacon = ANCHOR1; beacon <= ANCHOR4; beacon++) {
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, beacon, LIVE_CHECK, &rxMHR, 3);
// // ack = 1; // DEBUGGING
// anchorAcks[beacon - 1] = ack;
// if (!ack) {allTrue = false;}
// delay(INTER_RANGING_DELAY);
// }
if (allTrue) { // do BPM if all anchors are alive
// if (allTrue) { // do BPM if all anchors are alive
BPMResponseCount = 0;
memset(BPMDistances, 0, sizeof(BPMDistances));
ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, ANCHOR1, BPM_COMMAND, &rxMHR); // initiate BPM chain reaction starting with ANCHOR1
......@@ -189,15 +190,24 @@ void loop()
memset(serialBuffer, 0, sizeof(serialBuffer)); //clear the serial buffer once done
serialDataReady = false; //reset serial data ready flag
return;
}
else { // tell the pi which anchors are offline
Serial.printf("%d %d %d %d", anchorAcks[0], anchorAcks[1], anchorAcks[2], anchorAcks[3]);
Serial.println();
}
// }
// else { // tell the pi which anchors are offline
// Serial.printf("%d %d %d %d", anchorAcks[0], anchorAcks[1], anchorAcks[2], anchorAcks[3]);
// Serial.println();
// }
}
else if (strcmp(serialBuffer, "rng") == 0) {
state = RANGING_INITIATOR;
}
// else if (strcmp(serialBuffer, "lc") == 0) {
// Serial.print("Live check: ");
// for (uint8_t beacon = ANCHOR1; beacon <= ANCHOR4; beacon++) {
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, beacon, LIVE_CHECK, &rxMHR, 3);
// printf("%d: %d ", beacon, ack);
// // delay(INTER_RANGING_DELAY);
// }
// Serial.println();
// }
// else {
// Serial.println("Serial command not recognized. ");
// }
......
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