Diff: sensors.cpp

Revision:

10:e58323951c08

Parent:

6:b340a527add9

Child:

11:312663037b8c

--- a/sensors.cpp	Sun Oct 16 14:12:49 2016 +0000
+++ b/sensors.cpp	Sun Oct 16 16:00:20 2016 +0000
@@ -29,17 +29,17 @@
 // The ultrasonic sensor needs a start command to be sent: this is done by calling update_ultrasonic_measure().
 // It can be set to automatically refresh at 10Hz by called enable_ultrasonic_ticker and disable with disabled_ultrasonic_ticker
 
-void enable_ultrasonic_ticker()
+void Sensors::enable_ultrasonic_ticker()
 {
-    ultrasonic_ticker.attach_us(update_ultrasonic_measure,100000);
+    ultrasonic_ticker.attach_us(this,&Sensors::update_ultrasonic_measure,100000);
 }
 
-void disable_ultrasonic_ticker()
+void Sensors::disable_ultrasonic_ticker()
 {
     ultrasonic_ticker.detach();
 }
 
-void update_ultrasonic_measure()
+void Sensors::update_ultrasonic_measure()
 {
     if(waiting_for_ultrasonic == 0) {
         waiting_for_ultrasonic = 1;
@@ -49,13 +49,13 @@
             command[1] = 0x51;                          // Get result is centimeters
             primary_i2c.write(ULTRASONIC_ADDRESS, command, 2);              // Send the command to start a ranging burst
         }
-        ultrasonic_timeout.attach_us(IF_read_ultrasonic_measure,70000);
+        ultrasonic_timeout.attach_us(this,&Sensors::IF_read_ultrasonic_measure,70000);
     } else {
         debug("WARNING:  Ultrasonic sensor called too frequently.\n");
     }
 }
 
-void IF_read_ultrasonic_measure()
+void Sensors::IF_read_ultrasonic_measure()
 {
     if(has_ultrasonic_sensor) {
         char command[1];
@@ -74,7 +74,7 @@
 // Additional Sensing Functions
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-float get_temperature()
+float Sensors::get_temperature()
 {   
     if(has_temperature_sensor)return IF_read_from_temperature_sensor();
     return 0;
@@ -84,13 +84,13 @@
 // Voltage Sensing Functions
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-float get_battery_voltage ()
+float Sensors::get_battery_voltage ()
 {
     float raw_value = vin_battery.read();
     return raw_value * 4.95;
 }
 
-float get_current ()
+float Sensors::get_current ()
 {
     // Device uses a INA211 current sense monitor measuring voltage drop across a 2mOhm resistor
     // Device gain = 500
@@ -98,7 +98,7 @@
     return raw_value * 3.3;
 }
 
-float get_dc_voltage ()
+float Sensors::get_dc_voltage ()
 {
     float raw_value = vin_dc.read();
     return raw_value * 6.6;
@@ -112,7 +112,7 @@
 // The value is converted to an approximate distance in millimetres, or 100.0 if no obstacle found.
 // NB This function is preserved for code-compatability and cases where only a single reading is needed
 // In many cases it is preferable to call store_reflected_ir_distances() to save all 8 values then read using get_reflected_ir_distance()
-float read_reflected_ir_distance ( char index )
+float Sensors::read_reflected_ir_distance ( char index )
 {
     // Sanity check
     if(index>7) return 0.0;
@@ -164,7 +164,7 @@
 
 
 // Returns the stored value of the reflected obstacle based on last call of either read_reflected_ir_distance or store_reflected_distances
-float get_reflected_ir_distance ( char index )
+float Sensors::get_reflected_ir_distance ( char index )
 {
     // Sanity check: check range of index and that values have been stored
     if (index>7 || ir_values_stored == 0) return 0.0;
@@ -172,7 +172,7 @@
 }
 
 // Returns the stored value of the non-illuminated sensor based on last call of store_background_raw_ir_values
-unsigned short get_background_raw_ir_value ( char index )
+unsigned short Sensors::get_background_raw_ir_value ( char index )
 {
     // Sanity check: check range of index and that values have been stored
     if (index>7 || ir_values_stored == 0) return 0.0;
@@ -180,7 +180,7 @@
 }
 
 // Returns the stored value of the illuminated sensor based on last call of store_illuminated_raw_ir_values
-unsigned short get_illuminated_raw_ir_value ( char index )
+unsigned short Sensors::get_illuminated_raw_ir_value ( char index )
 {
     // Sanity check: check range of index and that values have been stored
     if (index>7 || ir_values_stored == 0) return 0.0;
@@ -188,7 +188,7 @@
 }
 
 // Stores the reflected distances for all 8 IR sensors
-void store_reflected_ir_distances ( void )
+void Sensors::store_reflected_ir_distances ( void )
 {
     store_ir_values();
     for(int i=0; i<8; i++) {
@@ -196,15 +196,15 @@
     }
 }
 
-// Stores the rbackground and illuminated values for all 8 IR sensors
-void store_ir_values ( void )
+// Stores the background and illuminated values for all 8 IR sensors
+void Sensors::store_ir_values ( void )
 {
     store_background_raw_ir_values();
     store_illuminated_raw_ir_values();
 }
 
 // Stores the raw ADC values for all 8 IR sensors without enabling IR emitters
-void store_background_raw_ir_values ( void )
+void Sensors::store_background_raw_ir_values ( void )
 {
     ir_values_stored = 1;
     for(int i=0; i<8; i++) {
@@ -213,7 +213,7 @@
 }
 
 // Stores the raw ADC values for all 8 IR sensors with a 500us emitter pulse
-void store_illuminated_raw_ir_values ( void )
+void Sensors::store_illuminated_raw_ir_values ( void )
 {
     //1.  Enable the front IR emitters and store the values
     IF_set_IR_emitter_output(0, 1);
@@ -235,7 +235,7 @@
 }
 
 // Converts a background and illuminated value into a distance
-float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value )
+float Sensors::calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value )
 {
     float approximate_distance = 4000 + background_value - illuminated_value;
     if(approximate_distance < 0) approximate_distance = 0;
@@ -253,7 +253,7 @@
 }
 
 // Returns the illuminated raw sensor value for the IR sensor defined by index (range 0-7); turns on the emitters for a 500us pulse
-unsigned short read_illuminated_raw_ir_value ( char index )
+unsigned short Sensors::read_illuminated_raw_ir_value ( char index )
 {
     //This function reads the IR strength when illuminated - used for PC system debugging purposes
     //1.  Enable the relevant IR emitter by turning on its pulse output
@@ -296,7 +296,7 @@
 
 
 // Returns the stored value of the non-illuminated sensor based on last call of store_background_base_ir_values
-unsigned short get_background_base_ir_value ( char index )
+unsigned short Sensors::get_background_base_ir_value ( char index )
 {
     // Sanity check: check range of index and that values have been stored
     if (index>4 || base_ir_values_stored == 0) return 0.0;
@@ -304,7 +304,7 @@
 }
 
 // Returns the stored value of the illuminated sensor based on last call of store_illuminated_base_ir_values
-unsigned short get_illuminated_base_ir_value ( char index )
+unsigned short Sensors::get_illuminated_base_ir_value ( char index )
 {
     // Sanity check: check range of index and that values have been stored
     if (index>4 || base_ir_values_stored == 0) return 0.0;
@@ -312,7 +312,7 @@
 }
 
 // Stores the reflected distances for all 5 base IR sensors
-void store_base_ir_values ( void )
+void Sensors::store_base_ir_values ( void )
 {
     store_background_base_ir_values();
     store_illuminated_base_ir_values();
@@ -322,7 +322,7 @@
 }
 
 // Stores the raw ADC values for all 5 base IR sensors without enabling IR emitters
-void store_background_base_ir_values ( void )
+void Sensors::store_background_base_ir_values ( void )
 {
     base_ir_values_stored = 1;
     for(int i=0; i<5; i++) {
@@ -331,7 +331,7 @@
 }
 
 // Stores the raw ADC values for all 5 base IR sensors with a 500us emitter pulse
-void store_illuminated_base_ir_values ( void )
+void Sensors::store_illuminated_base_ir_values ( void )
 {
     //1.  Enable the base IR emitters and store the values
     IF_set_IR_emitter_output(2, 1);
@@ -344,7 +344,7 @@
 }
 
 // Routine to store detected line position in a similar format to the used on 3Pi\m3Pi\PiSwarm
-void store_line_position ( )
+void Sensors::store_line_position ( )
 {
     // Store background and reflected base IR values
     store_base_ir_values();
@@ -404,7 +404,7 @@
 }
 
 // Returns the subtraction of the background base IR value from the reflection based on last call of store_illuminated_base_ir_values
-unsigned short calculate_base_ir_value ( char index ){
+unsigned short Sensors::calculate_base_ir_value ( char index ){
     // If the index is not in the correct range or the base IR values have not been stored, return zero
     if (index>4 || base_ir_values_stored == 0) return 0.0;
     // If the reflection value is greater than the background value, return the subtraction 
@@ -417,7 +417,7 @@
 }
 
 // Returns the subtraction of the background side IR value from the reflection based on last call of store_illuminated_base_ir_values
-unsigned short calculate_side_ir_value ( char index ){
+unsigned short Sensors::calculate_side_ir_value ( char index ){
     // If the index is not in the correct range or the base IR values have not been stored, return zero
     if (index>7 || ir_values_stored == 0) return 0.0;
     // If the reflection value is greater than the background value, return the subtraction
@@ -429,7 +429,7 @@
     }
 }
 
-void calibrate_base_ir_sensors (void)
+void Sensors::calibrate_base_ir_sensors (void)
 {
     short white_background[5];
     short white_active[5];
@@ -535,7 +535,7 @@
 }
 
 
-int get_bearing_from_ir_array (unsigned short * ir_sensor_readings)
+int Sensors::get_bearing_from_ir_array (unsigned short * ir_sensor_readings)
 {
     //out("Getting bearing from array: [%d][%d][%d][%d][%d][%d][%d][%d]\n",ir_sensor_readings[0],ir_sensor_readings[1],ir_sensor_readings[2],ir_sensor_readings[3],ir_sensor_readings[4],ir_sensor_readings[5],ir_sensor_readings[6],ir_sensor_readings[7]);