Prometheus / Mbed 2 deprecated Prom_Roebi

Dependencies:   Farbsensor IRSensorLib PID_Control Servo mbed PixyLib

Farbauswertung.cpp@15:26dbcd6ff48d, 2017-05-24 (annotated)

Committer:
ZHAW_Prometheus
Date:
Wed May 24 13:54:02 2017 +0000
Revision:
15:26dbcd6ff48d
Parent:
14:bee8101aad45
Child:
16:ad45ef4fee04
Vers. 24.05.2017 15:50

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 0:422088ad7fc5 1 #include "mbed.h"
ZHAW_Prometheus 0:422088ad7fc5 2 #include "cstdlib"
ZHAW_Prometheus 0:422088ad7fc5 3 //#include <cmath>
ZHAW_Prometheus 0:422088ad7fc5 4 #include "Farbauswertung.h"
ZHAW_Prometheus 0:422088ad7fc5 5
ZHAW_Prometheus 12:472b26872a42 6 //Konstruktor
ZHAW_Prometheus 15:26dbcd6ff48d 7 Farbauswertung::Farbauswertung(AnalogIn* SensorG, AnalogIn* SensorR, Servo& _servoAusw, Servo& _servoFoerder, int verzEin, int verzAus) : servoAusw(_servoAusw), servoFoerder(_servoFoerder)
ZHAW_Prometheus 0:422088ad7fc5 8 {
ZHAW_Prometheus 0:422088ad7fc5 9 this->SensorG = SensorG;
ZHAW_Prometheus 0:422088ad7fc5 10 this->SensorR = SensorR;
ZHAW_Prometheus 13:7ce78048b733 11 m_verzEin = verzEin;
ZHAW_Prometheus 13:7ce78048b733 12 m_verzAus = verzAus;
ZHAW_Prometheus 13:7ce78048b733 13 p1 = 0;
ZHAW_Prometheus 13:7ce78048b733 14 p2 = merkerSize - verzEin;
ZHAW_Prometheus 0:422088ad7fc5 15 farbsensor.init(SensorG, SensorR);
schuema4 3:017c85c4b14b 16 zustand = gruen;
ZHAW_Prometheus 13:7ce78048b733 17 memset(merker, 0, merkerSize);
ZHAW_Prometheus 0:422088ad7fc5 18 }
ZHAW_Prometheus 0:422088ad7fc5 19
ZHAW_Prometheus 12:472b26872a42 20 //Destruktor
ZHAW_Prometheus 12:472b26872a42 21 Farbauswertung::~Farbauswertung() {}
ZHAW_Prometheus 12:472b26872a42 22
ZHAW_Prometheus 15:26dbcd6ff48d 23 void Farbauswertung::setSerialOutput(Serial *pc)
ZHAW_Prometheus 15:26dbcd6ff48d 24 {
ZHAW_Prometheus 0:422088ad7fc5 25 this->pc = pc;
ZHAW_Prometheus 0:422088ad7fc5 26 }
ZHAW_Prometheus 0:422088ad7fc5 27
ZHAW_Prometheus 12:472b26872a42 28 //Methoden
ZHAW_Prometheus 15:26dbcd6ff48d 29 void Farbauswertung::printState()
ZHAW_Prometheus 15:26dbcd6ff48d 30 {
ZHAW_Prometheus 12:472b26872a42 31 if (pc) {
ZHAW_Prometheus 13:7ce78048b733 32 pc->printf("Gruen: %f\tRot: %f\tStatus: %d\n\r", farbsensor.readg(), farbsensor.readr(), zustand);
ZHAW_Prometheus 12:472b26872a42 33 }
ZHAW_Prometheus 12:472b26872a42 34 }
ZHAW_Prometheus 12:472b26872a42 35
ZHAW_Prometheus 15:26dbcd6ff48d 36 void Farbauswertung::auswertung()
ZHAW_Prometheus 15:26dbcd6ff48d 37 {
ZHAW_Prometheus 15:26dbcd6ff48d 38 servoFoerder = 0.2f;
ZHAW_Prometheus 15:26dbcd6ff48d 39
ZHAW_Prometheus 15:26dbcd6ff48d 40 valInG = farbsensor.readg();
ZHAW_Prometheus 15:26dbcd6ff48d 41 valInR = farbsensor.readr();
ZHAW_Prometheus 15:26dbcd6ff48d 42 //Zustände am Farbsensor ins Array schreiben
ZHAW_Prometheus 15:26dbcd6ff48d 43 if ((valInG=68.0 && valInG<=70.0 && valInR>=70.0 && valInR<=71.6)|| (valInG>=77.2 && valInG<=77.39 && valInR>=75.0 && valInR<=77.0) || (valInG>=75.0 && valInG<=76.0 && valInR>=73.0 && valInR<=74.0)) {
ZHAW_Prometheus 15:26dbcd6ff48d 44 zustand = rot;
ZHAW_Prometheus 15:26dbcd6ff48d 45 } else {
ZHAW_Prometheus 15:26dbcd6ff48d 46 zustand = gruen;
ZHAW_Prometheus 15:26dbcd6ff48d 47 }
ZHAW_Prometheus 15:26dbcd6ff48d 48 merker[p1] = zustand;
ZHAW_Prometheus 15:26dbcd6ff48d 49 if (p1 < (merkerSize-1)) {
ZHAW_Prometheus 15:26dbcd6ff48d 50 p1++;
ZHAW_Prometheus 15:26dbcd6ff48d 51 } else {
ZHAW_Prometheus 15:26dbcd6ff48d 52 p1 = 0;
ZHAW_Prometheus 15:26dbcd6ff48d 53 }
ZHAW_Prometheus 15:26dbcd6ff48d 54
ZHAW_Prometheus 15:26dbcd6ff48d 55 //Zustände an der Klappe abrufen und Klappe öffnen und schliessen
ZHAW_Prometheus 15:26dbcd6ff48d 56 sum = 0;
ZHAW_Prometheus 15:26dbcd6ff48d 57 for (uint16_t i = 0; i<m_verzAus; i++) {
ZHAW_Prometheus 15:26dbcd6ff48d 58 if ((p2+i) < merkerSize) {
ZHAW_Prometheus 15:26dbcd6ff48d 59 sum += merker[p2+i];
ZHAW_Prometheus 13:7ce78048b733 60 } else {
ZHAW_Prometheus 15:26dbcd6ff48d 61 sum += merker[p2+i-merkerSize];
ZHAW_Prometheus 1:5c44e2462a8b 62 }
ZHAW_Prometheus 15:26dbcd6ff48d 63 }
ZHAW_Prometheus 15:26dbcd6ff48d 64 if (p2 < (merkerSize-1)) {
ZHAW_Prometheus 15:26dbcd6ff48d 65 p2++;
ZHAW_Prometheus 13:7ce78048b733 66 } else {
ZHAW_Prometheus 15:26dbcd6ff48d 67 p2 = 0;
schuema4 3:017c85c4b14b 68 }
ZHAW_Prometheus 15:26dbcd6ff48d 69 if (sum > 0) {
ZHAW_Prometheus 15:26dbcd6ff48d 70 servoAusw = 1.0f;
ZHAW_Prometheus 15:26dbcd6ff48d 71 } else {
ZHAW_Prometheus 15:26dbcd6ff48d 72 servoAusw = 0.01f;
ZHAW_Prometheus 15:26dbcd6ff48d 73 }
ZHAW_Prometheus 13:7ce78048b733 74 }