Diff: LineFollower.cpp

Revision:

4:2abe380c57f1

Parent:

3:bc54728ca6c8

Child:

5:1c4c12596ad2

--- a/LineFollower.cpp	Thu Feb 27 01:50:13 2014 +0000
+++ b/LineFollower.cpp	Fri Feb 28 04:21:26 2014 +0000
@@ -1,4 +1,5 @@
 #include "LineFollower.h"
+#include "Motor.h"
 #include "mbed.h"
 #include <stdint.h>
 
@@ -13,20 +14,10 @@
     * @param ir7  IR Sensor 7
     * @param ir8  IR Sensor 8
     */   
-    LineFollower::LineFollower(DigitalIn ir1, DigitalIn ir2, DigitalIn ir3, DigitalIn ir4,
-                DigitalIn ir5, DigitalIn ir6, DigitalIn ir7, DigitalIn ir8):
-                _ir1(ir1), _ir2(ir2), _ir3(ir3), _ir4(ir4), _ir5(ir5), _ir6(ir6),
-                _ir7(ir7), _ir8(ir8){
-                    
-        array[0] = _ir1;
-        array[1] = _ir2;
-        array[2] = _ir3;
-        array[3] = _ir4;
-        array[4] = _ir5;
-        array[5] = _ir6;
-        array[6] = _ir7;
-        array[7] = _ir8;
-    }
+    LineFollower::LineFollower(PinName ir1, PinName ir2, PinName ir3, PinName ir4,
+                PinName ir5, PinName ir6, PinName ir7, PinName ir8):
+                array(ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8)
+                {}
                 
                 
     /** Read the value of a LineFollower object
@@ -34,13 +25,7 @@
     * @return The value of the Sensor
     */                    
     uint8_t LineFollower::read(){
-        uint8_t binary = 0;
-        int multi = 1;
-        for(int i=0; i<8; i++){
-               binary += array[i]*multi;
-               multi = multi*2;
-        }
-        return binary;
+        return array;
     }
     
     /** Follow a line
@@ -48,79 +33,79 @@
     * @param    l left drive motor
     * @param    r  right drive motor
     */                    
-    void followLine(Motor l, Motor r){
+    void LineFollower::followLine(Motor l, Motor r){
            int count = 0;
            for(int i = 0; i<8; i++){
-                count += array[i];  
+                count += (array&(1<<0))?1:0;  
             }
             
             switch(count){
                 
-                case 1: if(this->read() == 0b10000000){
+                case 1: if(this->read() == 0x80){
                             l.speed(-(0.75 * MAXSPEED));
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00000001){
+                        else if(this->read() == 0x01){
                             l.speed(MAXSPEED);
                             r.speed(-(0.75 * MAXSPEED));
                         }
                         break;
                         
-                case 2: if(this->read() == 0b00011000){
+                case 2: if(this->read() == 0x18){
                             l.speed(MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b11000000){
+                        else if(this->read() == 0xC0){
                             l.speed(-(0.5 * MAXSPEED));
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00000011){
+                        else if(this->read() == 0x03){
                             l.speed(MAXSPEED);
                             r.speed(-(0.5 * MAXSPEED));
                         }
-                        else if(this->read() == 0b01100000){
+                        else if(this->read() == 0x60){
                             l.speed(0);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00000110){
+                        else if(this->read() == 0x06){
                             l.speed(MAXSPEED);
                             r.speed(0);
                         }
-                        else if(this->read() == 0b00110000){
+                        else if(this->read() == 0x30){
                             l.speed(0.5*MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00001100){
+                        else if(this->read() == 0x0C){
                             l.speed(MAXSPEED);
                             r.speed(0.5*MAXSPEED);
                         }
                         break;
                         
-                case 3: if(this->read() == 0b11100000){
+                case 3: if(this->read() == 0xE0){
                             l.speed(-(0.25*MAXSPEED));
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00000111){
+                        else if(this->read() == 0x07){
                             l.speed(MAXSPEED);
                             r.speed(-(0.25*MAXSPEED));
                         }
-                        else if(this->read() == 0b01110000){
+                        else if(this->read() == 0x70){
                             l.speed(0.25*MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00001110){
+                        else if(this->read() == 0x0E){
                             l.speed(MAXSPEED);
                             r.speed(0.25*MAXSPEED);
                         }
-                        else if(this->read() == 0b00111000){
+                        else if(this->read() == 0x38){
                             l.speed(0.5*MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0b00011100){
+                        else if(this->read() == 0x1C){
                             l.speed(MAXSPEED);
                             r.speed(0.5*MAXSPEED);
                         }
-                        break
+                        break;
               default:  break;
             }