Diff: sensors.cpp

Revision:

0:8a2dd255c508

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensors.cpp	Sat Nov 26 17:28:53 2016 +0000
@@ -0,0 +1,38 @@
+#include "robot.h"
+
+char adc_data_messages [8] = {0x84,0xC4,0x94,0xD4,0xA4,0xE4,0xB4,0xF4};
+
+char adc_stored_values [8];
+
+char sensor_ticker_current_sensor = 0;
+Ticker sensor_ticker;
+
+void Sensors::start_sensor_ticker(){
+    sensor_ticker.attach(this,&Sensors::sensor_ticker_routine,SENSOR_TICKER_PERIOD);
+}
+
+void Sensors::sensor_ticker_routine(){
+     read_adc_value(sensor_ticker_current_sensor);
+     sensor_ticker_current_sensor ++;
+     if(sensor_ticker_current_sensor == 8) sensor_ticker_current_sensor = 0;
+}
+
+char Sensors::get_adc_value(char channel){
+    return adc_stored_values[channel];   
+}
+
+char Sensors::read_adc_value(char channel){
+    char return_value = 0;
+    if(channel < 8 && i2c_lock == 0){
+    char command[1];
+    char ret_data[1];
+    command[0] =  adc_data_messages[channel];
+    i2c_lock = 1;
+    primary_i2c.write(ADC_ADDRESS,command,1);
+    primary_i2c.read(ADC_ADDRESS,ret_data,1);
+    i2c_lock = 0;
+    return_value = ret_data[0];
+    adc_stored_values[channel]=return_value;
+    }
+    return return_value;
+}
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