re-enabled print in tof, added dependecies

Author: gbr1

library.properties

@@ -3,8 +3,8 @@ version=0.0.3
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <[email protected]>
 sentence=Library and firmware for Arduino Robot
-paragraph=Robot Robot Robot
-category=Firmware
+paragraph=This library is used to build the firmware used by Arduino Alvik, examples show you how to customize the firmware.
+category=Robotics
 url=https://github.com/gbr1/Arduino_Robot_Firmware
 includes=Arduino_Robot_Firmware.h
-depends=Arduino_APDS9960, Arduino_MAX17332
+depends=Arduino_APDS9960, Arduino_MAX17332, STM32duino_LSM6DSO, STM32duino_MotionFX, STM32duino_VL53L7CX, AT42QT, ucPack

src/sensor_tof_matrix.h

@@ -71,7 +71,7 @@ class SensorTofMatrix{
             return out;
         }
 
-        /*
+        
         void print(){
             VL53L7CX_ResultsData Results;
             uint8_t NewDataReady = 0;
@@ -92,7 +92,7 @@ class SensorTofMatrix{
                 Serial.println();
             }
         }
-        */
+        
 
         bool update() {
             uint8_t NewDataReady = 0;
@@ -359,6 +359,16 @@ class SensorTofMatrix{
         int getBottom(){
             return bottom;
         }
+
+
+        int test_center(){
+            if ((results.distance_mm[9]<150)||(results.distance_mm[10]<150)){
+                return max(results.distance_mm[1],results.distance_mm[2]);
+            }
+            else{
+                return (results.distance_mm[5]+results.distance_mm[6])/2;
+            }
+        }
 };
 
 #endif