MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

irpair.cpp@15:b80555a4a8b9, 2017-05-14 (annotated)

Committer:
kyleliangus
Date:
Sun May 14 04:45:21 2017 +0000
Revision:
15:b80555a4a8b9
Parent:
9:1d8e4da058cd
Child:
29:ec2c5a69acd6
Created PID for encoder based on difference of speed rotations.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyleliangus 6:3d68fedd6fd9 1 #include "irpair.h"
kyleliangus 4:b5b7836ca2b0 2 #include "mbed.h"
kyleliangus 4:b5b7836ca2b0 3
kyleliangus 6:3d68fedd6fd9 4 void IRPair::calibrateSensor() {
kyleliangus 4:b5b7836ca2b0 5
kyleliangus 9:1d8e4da058cd 6 ir.write( 1 );
kyleliangus 9:1d8e4da058cd 7
kyleliangus 4:b5b7836ca2b0 8 for (int i = 0; i < samplesToTake; ++i)
kyleliangus 5:7e1e4cc19044 9 sensorAvg += recv.read();
kyleliangus 4:b5b7836ca2b0 10
kyleliangus 9:1d8e4da058cd 11 ir.write( 0 );
kyleliangus 4:b5b7836ca2b0 12 sensorAvg /= samplesToTake;
kyleliangus 4:b5b7836ca2b0 13 }
kyleliangus 4:b5b7836ca2b0 14
kyleliangus 6:3d68fedd6fd9 15 float IRPair::getSamples( int samples )
kyleliangus 4:b5b7836ca2b0 16 {
kyleliangus 4:b5b7836ca2b0 17 float z = 0;
kyleliangus 5:7e1e4cc19044 18 ir.write( 1 );
kyleliangus 4:b5b7836ca2b0 19 for( int i = 0; i < samples; ++i )
kyleliangus 5:7e1e4cc19044 20 z += recv.read();
kyleliangus 5:7e1e4cc19044 21 ir.write( 0 );
kyleliangus 4:b5b7836ca2b0 22 return z / samples;
kyleliangus 15:b80555a4a8b9 23 }