Buggy bois
/
headache
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Dependencies: mbed
SensorControl/lineSensor.h@4:208f5279143a, 2019-03-23 (annotated)
- Committer:
- mazdo25
- Date:
- Sat Mar 23 19:46:09 2019 +0000
- Revision:
- 4:208f5279143a
- Parent:
- 3:01b5e80d842d
- Child:
- 5:f1613df66ceb
latest working, but line following not;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| mazdo25 | 1:813f4b17ae65 | 1 | class lineSensor |
| mazdo25 | 1:813f4b17ae65 | 2 | { |
| mazdo25 | 1:813f4b17ae65 | 3 | private: |
| mazdo25 | 3:01b5e80d842d | 4 | |
| mazdo25 | 1:813f4b17ae65 | 5 | DigitalOut emitter; |
| mazdo25 | 1:813f4b17ae65 | 6 | AnalogIn receiver; |
| mazdo25 | 1:813f4b17ae65 | 7 | float static const vREF = 3.3f; |
| mazdo25 | 1:813f4b17ae65 | 8 | float lineVoltage; |
| mazdo25 | 3:01b5e80d842d | 9 | Timeout sampler; |
| mazdo25 | 1:813f4b17ae65 | 10 | |
| mazdo25 | 1:813f4b17ae65 | 11 | public: |
| mazdo25 | 3:01b5e80d842d | 12 | float static const sampleTime = 0.1f; |
| mazdo25 | 1:813f4b17ae65 | 13 | |
| mazdo25 | 1:813f4b17ae65 | 14 | lineSensor(PinName E, PinName R):emitter(E), receiver(R) |
| mazdo25 | 1:813f4b17ae65 | 15 | { |
| mazdo25 | 3:01b5e80d842d | 16 | sampler.detach(); |
| mazdo25 | 3:01b5e80d842d | 17 | } |
| mazdo25 | 1:813f4b17ae65 | 18 | |
| mazdo25 | 1:813f4b17ae65 | 19 | //Turn on the emitter i.e emit a light |
| mazdo25 | 1:813f4b17ae65 | 20 | void turnOn(void) |
| mazdo25 | 1:813f4b17ae65 | 21 | { |
| mazdo25 | 1:813f4b17ae65 | 22 | emitter.write(1); |
| mazdo25 | 1:813f4b17ae65 | 23 | } |
| mazdo25 | 1:813f4b17ae65 | 24 | |
| mazdo25 | 1:813f4b17ae65 | 25 | //turn off the emitter i.e don't emit a light |
| mazdo25 | 1:813f4b17ae65 | 26 | void turnOff(void) |
| mazdo25 | 1:813f4b17ae65 | 27 | { |
| mazdo25 | 1:813f4b17ae65 | 28 | emitter.write(0); |
| mazdo25 | 1:813f4b17ae65 | 29 | } |
| mazdo25 | 1:813f4b17ae65 | 30 | |
| mazdo25 | 1:813f4b17ae65 | 31 | //toggle the emitter i.e if its on turn it off, if its off turn it on |
| mazdo25 | 1:813f4b17ae65 | 32 | void toggleEmitter(void) |
| mazdo25 | 1:813f4b17ae65 | 33 | { |
| mazdo25 | 1:813f4b17ae65 | 34 | emitter.write(!emitter.read()); |
| mazdo25 | 1:813f4b17ae65 | 35 | } |
| mazdo25 | 1:813f4b17ae65 | 36 | |
| mazdo25 | 1:813f4b17ae65 | 37 | //return an int representing the state of the emitter i.e is it on or off where 1 represents on and 0 represents off |
| mazdo25 | 1:813f4b17ae65 | 38 | int returnEmitterState(void) |
| mazdo25 | 1:813f4b17ae65 | 39 | { |
| mazdo25 | 1:813f4b17ae65 | 40 | return emitter.read(); |
| mazdo25 | 1:813f4b17ae65 | 41 | } |
| mazdo25 | 1:813f4b17ae65 | 42 | |
| mazdo25 | 3:01b5e80d842d | 43 | void sample(void) |
| mazdo25 | 3:01b5e80d842d | 44 | { |
| mazdo25 | 3:01b5e80d842d | 45 | turnOn(); |
| mazdo25 | 3:01b5e80d842d | 46 | sampler.attach(callback(this, &lineSensor::turnOff),sampleTime); |
| mazdo25 | 3:01b5e80d842d | 47 | } |
| mazdo25 | 3:01b5e80d842d | 48 | |
| mazdo25 | 4:208f5279143a | 49 | float calcLineVoltage(void) |
| mazdo25 | 1:813f4b17ae65 | 50 | { |
| mazdo25 | 4:208f5279143a | 51 | lineVoltage = receiver.read()*vREF; |
| mazdo25 | 4:208f5279143a | 52 | return lineVoltage; |
| mazdo25 | 1:813f4b17ae65 | 53 | } |
| mazdo25 | 1:813f4b17ae65 | 54 | |
| mazdo25 | 1:813f4b17ae65 | 55 | float returnLineVoltage(void) |
| mazdo25 | 1:813f4b17ae65 | 56 | { |
| mazdo25 | 1:813f4b17ae65 | 57 | return lineVoltage; |
| mazdo25 | 1:813f4b17ae65 | 58 | } |
| mazdo25 | 1:813f4b17ae65 | 59 | |
| mazdo25 | 1:813f4b17ae65 | 60 | }; |