C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
sensors.h
- Committer:
- jah128
- Date:
- 2016-10-15
- Revision:
- 6:b340a527add9
- Parent:
- 5:3cdd1a37cdd7
- Child:
- 10:e58323951c08
File content as of revision 6:b340a527add9:
/* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File * * Copyright 2016 University of York * * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and limitations under the License. * * File: sensors.h * * (C) Dept. Electronics & Computer Science, University of York * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis * * PsiSwarm Library Version: 0.7 * * October 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 ); unsigned short calculate_base_ir_value ( char index ); unsigned short calculate_side_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