C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
Diff: sensors.h
- Revision:
- 0:d6269d17c8cf
- Child:
- 2:c6986ee3c7c5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensors.h Thu Feb 04 21:48:54 2016 +0000 @@ -0,0 +1,48 @@ +/* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File + * + * File: sensors.h + * + * (C) Dept. Electronics & Computer Science, University of York + * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis + * + * PsiSwarm Library Version: 0.4 + * + * February 2016 + * + */ + +#ifndef SENSORS_H +#define SENSORS_H + +float get_battery_voltage ( void ); +float get_current ( void ); +float get_dc_voltage ( void ); + +float get_temperature ( void ); +void enable_ultrasonic_ticker( void ); +void disable_ultrasonic_ticker( void ); +void update_ultrasonic_measure ( void ); +void IF_read_ultrasonic_measure ( void ); +float read_reflected_ir_distance ( char index ); +float get_reflected_ir_distance ( char index ); +unsigned short get_background_raw_ir_value ( char index ); +unsigned short get_illuminated_raw_ir_value ( char index ); +void store_reflected_ir_distances ( void ); +void store_background_raw_ir_values ( void ); +void store_illuminated_raw_ir_values ( void ); +float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value ); +unsigned short read_illuminated_raw_ir_value ( char index ) ; + +unsigned short get_background_base_ir_value ( char index ); +unsigned short get_illuminated_base_ir_value ( char index ); + +int get_bearing_from_ir_array ( unsigned short * ir_sensor_readings); +void store_ir_values ( void ); +void store_base_ir_values ( void ); +void store_background_base_ir_values ( void ); +void store_illuminated_base_ir_values ( void ); + +void store_line_position ( void ); +void calibrate_base_ir_sensors ( void ); + +#endif \ No newline at end of file