Psi Swarm Robot / PsiSwarmV7

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Dependents:   PsiSwarm_V7_Blank

Fork of PsiSwarmLibrary by James Hilder

sensors.h@5:3cdd1a37cdd7, 2016-10-15 (annotated)

Committer:
jah128
Date:
Sat Oct 15 13:29:37 2016 +0000
Revision:
5:3cdd1a37cdd7
Parent:
2:c6986ee3c7c5
Child:
6:b340a527add9
Initial commit of API Version 7 (fork from version 5)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File
jah128 0:d6269d17c8cf 2 *
jah128 0:d6269d17c8cf 3 * File: sensors.h
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 5:3cdd1a37cdd7 8 * PsiSwarm Library Version: 0.7
jah128 0:d6269d17c8cf 9 *
jah128 5:3cdd1a37cdd7 10 * October 2016
jah128 0:d6269d17c8cf 11 *
jah128 0:d6269d17c8cf 12 */
jah128 0:d6269d17c8cf 13
jah128 0:d6269d17c8cf 14 #ifndef SENSORS_H
jah128 0:d6269d17c8cf 15 #define SENSORS_H
jah128 0:d6269d17c8cf 16
jah128 0:d6269d17c8cf 17 float get_battery_voltage ( void );
jah128 0:d6269d17c8cf 18 float get_current ( void );
jah128 0:d6269d17c8cf 19 float get_dc_voltage ( void );
jah128 0:d6269d17c8cf 20
jah128 0:d6269d17c8cf 21 float get_temperature ( void );
jah128 0:d6269d17c8cf 22 void enable_ultrasonic_ticker( void );
jah128 0:d6269d17c8cf 23 void disable_ultrasonic_ticker( void );
jah128 0:d6269d17c8cf 24 void update_ultrasonic_measure ( void );
jah128 0:d6269d17c8cf 25 void IF_read_ultrasonic_measure ( void );
jah128 0:d6269d17c8cf 26 float read_reflected_ir_distance ( char index );
jah128 0:d6269d17c8cf 27 float get_reflected_ir_distance ( char index );
jah128 0:d6269d17c8cf 28 unsigned short get_background_raw_ir_value ( char index );
jah128 0:d6269d17c8cf 29 unsigned short get_illuminated_raw_ir_value ( char index );
jah128 0:d6269d17c8cf 30 void store_reflected_ir_distances ( void );
jah128 0:d6269d17c8cf 31 void store_background_raw_ir_values ( void );
jah128 0:d6269d17c8cf 32 void store_illuminated_raw_ir_values ( void );
jah128 0:d6269d17c8cf 33 float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value );
jah128 0:d6269d17c8cf 34 unsigned short read_illuminated_raw_ir_value ( char index ) ;
jah128 0:d6269d17c8cf 35
jah128 0:d6269d17c8cf 36 unsigned short get_background_base_ir_value ( char index );
jah128 0:d6269d17c8cf 37 unsigned short get_illuminated_base_ir_value ( char index );
jah128 2:c6986ee3c7c5 38 unsigned short calculate_base_ir_value ( char index );
jah128 2:c6986ee3c7c5 39 unsigned short calculate_side_ir_value ( char index );
jah128 0:d6269d17c8cf 40
jah128 0:d6269d17c8cf 41 int get_bearing_from_ir_array ( unsigned short * ir_sensor_readings);
jah128 0:d6269d17c8cf 42 void store_ir_values ( void );
jah128 0:d6269d17c8cf 43 void store_base_ir_values ( void );
jah128 0:d6269d17c8cf 44 void store_background_base_ir_values ( void );
jah128 0:d6269d17c8cf 45 void store_illuminated_base_ir_values ( void );
jah128 0:d6269d17c8cf 46
jah128 0:d6269d17c8cf 47 void store_line_position ( void );
jah128 0:d6269d17c8cf 48 void calibrate_base_ir_sensors ( void );
jah128 0:d6269d17c8cf 49
jah128 0:d6269d17c8cf 50 #endif