C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
sensors.h@6:b340a527add9, 2016-10-15 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 15 13:51:39 2016 +0000
- Revision:
- 6:b340a527add9
- Parent:
- 5:3cdd1a37cdd7
Added Apache license to files
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File |
jah128 | 0:d6269d17c8cf | 2 | * |
jah128 | 6:b340a527add9 | 3 | * Copyright 2016 University of York |
jah128 | 6:b340a527add9 | 4 | * |
jah128 | 6:b340a527add9 | 5 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. |
jah128 | 6:b340a527add9 | 6 | * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 |
jah128 | 6:b340a527add9 | 7 | * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS |
jah128 | 6:b340a527add9 | 8 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
jah128 | 6:b340a527add9 | 9 | * See the License for the specific language governing permissions and limitations under the License. |
jah128 | 6:b340a527add9 | 10 | * |
jah128 | 0:d6269d17c8cf | 11 | * File: sensors.h |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 14 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 15 | * |
jah128 | 5:3cdd1a37cdd7 | 16 | * PsiSwarm Library Version: 0.7 |
jah128 | 0:d6269d17c8cf | 17 | * |
jah128 | 5:3cdd1a37cdd7 | 18 | * October 2016 |
jah128 | 0:d6269d17c8cf | 19 | * |
jah128 | 0:d6269d17c8cf | 20 | */ |
jah128 | 0:d6269d17c8cf | 21 | |
jah128 | 0:d6269d17c8cf | 22 | #ifndef SENSORS_H |
jah128 | 0:d6269d17c8cf | 23 | #define SENSORS_H |
jah128 | 0:d6269d17c8cf | 24 | |
jah128 | 0:d6269d17c8cf | 25 | float get_battery_voltage ( void ); |
jah128 | 0:d6269d17c8cf | 26 | float get_current ( void ); |
jah128 | 0:d6269d17c8cf | 27 | float get_dc_voltage ( void ); |
jah128 | 0:d6269d17c8cf | 28 | |
jah128 | 0:d6269d17c8cf | 29 | float get_temperature ( void ); |
jah128 | 0:d6269d17c8cf | 30 | void enable_ultrasonic_ticker( void ); |
jah128 | 0:d6269d17c8cf | 31 | void disable_ultrasonic_ticker( void ); |
jah128 | 0:d6269d17c8cf | 32 | void update_ultrasonic_measure ( void ); |
jah128 | 0:d6269d17c8cf | 33 | void IF_read_ultrasonic_measure ( void ); |
jah128 | 0:d6269d17c8cf | 34 | float read_reflected_ir_distance ( char index ); |
jah128 | 0:d6269d17c8cf | 35 | float get_reflected_ir_distance ( char index ); |
jah128 | 0:d6269d17c8cf | 36 | unsigned short get_background_raw_ir_value ( char index ); |
jah128 | 0:d6269d17c8cf | 37 | unsigned short get_illuminated_raw_ir_value ( char index ); |
jah128 | 0:d6269d17c8cf | 38 | void store_reflected_ir_distances ( void ); |
jah128 | 0:d6269d17c8cf | 39 | void store_background_raw_ir_values ( void ); |
jah128 | 0:d6269d17c8cf | 40 | void store_illuminated_raw_ir_values ( void ); |
jah128 | 0:d6269d17c8cf | 41 | float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value ); |
jah128 | 0:d6269d17c8cf | 42 | unsigned short read_illuminated_raw_ir_value ( char index ) ; |
jah128 | 0:d6269d17c8cf | 43 | |
jah128 | 0:d6269d17c8cf | 44 | unsigned short get_background_base_ir_value ( char index ); |
jah128 | 0:d6269d17c8cf | 45 | unsigned short get_illuminated_base_ir_value ( char index ); |
jah128 | 2:c6986ee3c7c5 | 46 | unsigned short calculate_base_ir_value ( char index ); |
jah128 | 2:c6986ee3c7c5 | 47 | unsigned short calculate_side_ir_value ( char index ); |
jah128 | 0:d6269d17c8cf | 48 | |
jah128 | 0:d6269d17c8cf | 49 | int get_bearing_from_ir_array ( unsigned short * ir_sensor_readings); |
jah128 | 0:d6269d17c8cf | 50 | void store_ir_values ( void ); |
jah128 | 0:d6269d17c8cf | 51 | void store_base_ir_values ( void ); |
jah128 | 0:d6269d17c8cf | 52 | void store_background_base_ir_values ( void ); |
jah128 | 0:d6269d17c8cf | 53 | void store_illuminated_base_ir_values ( void ); |
jah128 | 0:d6269d17c8cf | 54 | |
jah128 | 0:d6269d17c8cf | 55 | void store_line_position ( void ); |
jah128 | 0:d6269d17c8cf | 56 | void calibrate_base_ir_sensors ( void ); |
jah128 | 0:d6269d17c8cf | 57 | |
jah128 | 0:d6269d17c8cf | 58 | #endif |