Practical Robotics Modular Robot Library
Diff: sensors.h
- Revision:
- 0:8a2dd255c508
- Child:
- 1:a6728adaf7e7
diff -r 000000000000 -r 8a2dd255c508 sensors.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensors.h Sat Nov 26 17:28:53 2016 +0000 @@ -0,0 +1,38 @@ +#ifndef SENSORS_H +#define SENSORS_H + +class Sensors +{ +public: + + + /** + * Reads and stores a value from the ADS7830 i2c ADC used for the Sharp distance sensors + * + * @param channel - The channel to read from (0 to 7) + * @return The 8-bit value returned by the ADC + */ + char read_adc_value(char channel); + + /** + * Returns the stored value from the last call of read_adc_value + * + * @param channel - The channel to read from (0 to 7) + * @return The stored 8-bit value + */ + char get_adc_value(char channel); + + /** + * Starts a ticker which reads and stores the value for each distance sensor at a + * frequency defined by SENSOR_TICKER_PERIOD (eg 10Hz) + */ + void start_sensor_ticker(void); + + /** + * Reads the next sensor + */ + void sensor_ticker_routine(void); +}; + + +#endif