Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

sensors.h@0:8a2dd255c508, 2016-11-26 (annotated)

Committer:
jah128
Date:
Sat Nov 26 17:28:53 2016 +0000
Revision:
0:8a2dd255c508
Child:
1:a6728adaf7e7
Initial commit

Who changed what in which revision?

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jah128 0:8a2dd255c508 1 #ifndef SENSORS_H
jah128 0:8a2dd255c508 2 #define SENSORS_H
jah128 0:8a2dd255c508 3
jah128 0:8a2dd255c508 4 class Sensors
jah128 0:8a2dd255c508 5 {
jah128 0:8a2dd255c508 6 public:
jah128 0:8a2dd255c508 7
jah128 0:8a2dd255c508 8
jah128 0:8a2dd255c508 9 /**
jah128 0:8a2dd255c508 10 * Reads and stores a value from the ADS7830 i2c ADC used for the Sharp distance sensors
jah128 0:8a2dd255c508 11 *
jah128 0:8a2dd255c508 12 * @param channel - The channel to read from (0 to 7)
jah128 0:8a2dd255c508 13 * @return The 8-bit value returned by the ADC
jah128 0:8a2dd255c508 14 */
jah128 0:8a2dd255c508 15 char read_adc_value(char channel);
jah128 0:8a2dd255c508 16
jah128 0:8a2dd255c508 17 /**
jah128 0:8a2dd255c508 18 * Returns the stored value from the last call of read_adc_value
jah128 0:8a2dd255c508 19 *
jah128 0:8a2dd255c508 20 * @param channel - The channel to read from (0 to 7)
jah128 0:8a2dd255c508 21 * @return The stored 8-bit value
jah128 0:8a2dd255c508 22 */
jah128 0:8a2dd255c508 23 char get_adc_value(char channel);
jah128 0:8a2dd255c508 24
jah128 0:8a2dd255c508 25 /**
jah128 0:8a2dd255c508 26 * Starts a ticker which reads and stores the value for each distance sensor at a
jah128 0:8a2dd255c508 27 * frequency defined by SENSOR_TICKER_PERIOD (eg 10Hz)
jah128 0:8a2dd255c508 28 */
jah128 0:8a2dd255c508 29 void start_sensor_ticker(void);
jah128 0:8a2dd255c508 30
jah128 0:8a2dd255c508 31 /**
jah128 0:8a2dd255c508 32 * Reads the next sensor
jah128 0:8a2dd255c508 33 */
jah128 0:8a2dd255c508 34 void sensor_ticker_routine(void);
jah128 0:8a2dd255c508 35 };
jah128 0:8a2dd255c508 36
jah128 0:8a2dd255c508 37
jah128 0:8a2dd255c508 38 #endif