Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
sensors.h
- Committer:
- jah128
- Date:
- 2017-06-04
- Revision:
- 17:bf614e28668f
- Parent:
- 16:50686c07ad07
- Child:
- 18:9204f74069b4
File content as of revision 17:bf614e28668f:
/* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File * * Copyright 2017 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: 0.8 * * June 2017 * */ #ifndef SENSORS_H #define SENSORS_H /** * Sensors class * Functions to read values from the Psi Swarm infrared, ultrasonic, temperature and power sensors * * Example: * @code * #include "psiswarm.h" * * int main() { * init(); * * } * @endcode */ class Sensors { public: /** Returns the current battery voltage for the robot * @return The voltage (in V); this should range between 3.5V for a discharged battery and 4.2V for a fully charged battery */ float get_battery_voltage ( void ); /** Returns the current being used by the robot * @return The current (in A) */ float get_current ( void ); /** Returns the voltage sensed from the DC input (post rectification) * @return The voltage (in V); note some back-voltage from the battery is expected even when no DC input is detected */ float get_dc_voltage ( void ); /** Returns the temperature sensed by the digital thermometer placed near the front of the MBED socket * @return The temperature (in degrees C) */ float get_temperature ( void ); /** Enables a 10Hz ticker that automatically takes readings from the SRF-02 ultrasonic sensor (if fitted) */ void enable_ultrasonic_ticker( void ); /** Disables the ultrasonic ticker */ void disable_ultrasonic_ticker( void ); /** Sends a message to SRF-02 ultrasonic sensor (if fitted) to instruct it to take a new reading. The result is available approx 70ms later */ void update_ultrasonic_measure ( void ); void IF_read_ultrasonic_measure ( void ); /** Stores the raw ADC values for all 8 IR side-facing sensors without enabling IR emitters */ void store_background_raw_ir_values ( void ); /** Stores the raw ADC values for all 8 IR side-facing sensors after enabling IR emitters */ void store_illuminated_raw_ir_values ( void ); /** Stores the raw ADC values for all 8 IR side-facing sensors both before and after enabling IR emitters * Calls store_background_raw_ir_values() then store_illuminated_raw_ir_values() */ void store_ir_values ( void ); /** Returns the stored value of the non-illuminated side-facing IR sensor value based on last call of store_background_raw_ir_values * Call either store_ir_values() or store_background_raw_ir_values() before using this function to update reading * @param index - The index of the sensor to read (range 0 to 7, clockwise around robot from front-right) * @return Unsigned short of background IR reading (range 0 to 4095) */ unsigned short get_background_raw_ir_value ( char index ); /** Returns the stored value of the illuminated side-facing IR sensor value based on last call of store_illuminated_raw_ir_values * Call either store_ir_values() or store_illuminated_raw_ir_values() before using this function to update reading * @param index - The index of the sensor to read (range 0 to 7, clockwise around robot from front-right) * @return Unsigned short of illuminated IR reading (range 0 to 4095) */ unsigned short get_illuminated_raw_ir_value ( char index ); /** Returns the subtraction of the background side IR value from the reflection based on last call of store_ir_values() * For most purposes this is the best method of detected obstacles etc as it mitigates for varying background levels of IR * @param index - The index of the sensor to read (range 0 to 7, clockwise around robot from front-right) * @return Unsigned short of compensated ir value (illuminated value - background value) (range 0 to 4095) */ unsigned short calculate_side_ir_value ( char index ); /** Enables the IR emitter then returns the value of the given side-facing IR sensor * This function is used when just one sensor is needed to be read; in general using store_ir_values() and get_illuminated_raw_ir_value(index) is preferable * @param index - The index of the sensor to read (range 0 to 7, clockwise around robot from front-right) * @return Unsigned short of illuminated IR reading (range 0 to 4095) */ unsigned short read_illuminated_raw_ir_value ( char index ) ; /** Stores the raw ADC values for all 5 base IR sensors without enabling IR emitters */ void store_background_base_ir_values ( void ); /** Stores the raw ADC values for all 5 base IR sensors after enabling IR emitters */ void store_illuminated_base_ir_values ( void ); /** Stores the raw ADC values for all 5 base IR sensors both before and after enabling IR emitters * Calls store_background_base_ir_values() then store_illuminated_base_ir_values() */ void store_base_ir_values ( void ); /** Returns the stored value of the non-illuminated base IR sensor value based on last call of store_background_base_ir_values * Call either store_base_ir_values() or store_background_base_ir_values() before using this function to update reading * @param index - The index of the sensor to read (range 0 to 4, sensor from left to right viewed from above - 2 is in middle of front) * @return Unsigned short of background IR reading (range 0 to 4095) */ unsigned short get_background_base_ir_value ( char index ); /** Returns the stored value of the illuminated base IR sensor value based on last call of store_illuminated_base_ir_values * Call either store_base_ir_values() or store_illuminated_base_ir_values() before using this function to update reading * @param index - The index of the sensor to read (range 0 to 4, sensor from left to right viewed from above - 2 is in middle of front) * @return Unsigned short of illuminated IR reading (range 0 to 4095) */ unsigned short get_illuminated_base_ir_value ( char index ); /** Returns the subtraction of the background base IR value from the reflection based on last call of store_base_ir_values() * For most purposes this is the best method of getting uncalibrated values from the base IR sensor as it mitigates for background levels of IR * @param index - The index of the sensor to read (range 0 to 4, sensor from left to right viewed from above - 2 is in middle of front) * @return Unsigned short of compensated ir value (illuminated value - background value) (range 0 to 4095) */ unsigned short calculate_base_ir_value ( char index ); /** Returns the calibrated base IR value adjusted for light\dark calibration values * Range is 0.0 to 1.0 where 0.1 is calibrated black value and 0.9 calibrated white value for given sensor * If sensor calibration has not been performed and stored in EEPROM used pretested values stored in settings.h * NB IR sensor is very material dependant (eg matt paper vs glossy paper): values tested using basic 80gsm copier paper * @param index - The index of the sensor to read (range 0 to 4, sensor from left to right viewed from above - 2 is in middle of front) * @return Float of compensated ir value (range 0-1, black value = 0.1, white value = 0.9) */ float get_calibrated_base_ir_value ( char index ); /** Determines the position of a black line on a white surface using the base IR sensors * Uses the calibrated sensor values * * Sets global variable 'line_found' to either 1 if line detected or 0 if line not found * Sets global variable 'line_position' (float) to a value ranging from -1.0 (line fully left) to 1.0 (line fully right) * [Should range from about -0.5 to 0.5 when center sensor can see line] */ void store_line_position (float line_threshold); void store_line_position ( void ); // The following functions are used for special programs or to retain backwards compatability but are not documented as part of the API void store_reflected_ir_distances ( void ); float read_reflected_ir_distance ( char index ); float get_reflected_ir_distance ( char index ); float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value ); int get_bearing_from_ir_array ( unsigned short * ir_sensor_readings); void store_line_position_old ( void ); void calibrate_base_sensors ( void ); void IF_set_base_calibration_values(int bir1w, int bir2w, int bir3w, int bir4w, int bir5w, int bir1b, int bir2b, int bir3b, int bir4b, int bir5b); }; #endif