Quadrifoglio / linesSnsor

4-Axisと同じラインセンサのライブラリ

Dependents:   00_yotsuba 10_motor-test 00_yotsuba 200_yotsuba_21

line.cpp

Committer:
THtakahiro702286
Date:
2021-03-06
Revision:
2:fb0d0bb8fc5b
Parent:
1:2d25db124969

File content as of revision 2:fb0d0bb8fc5b:

#include "line.h"

Line::Line(PinName line_):linesensor(line_)
{
    lineborder = DEFAULT_LINESENSOR_JUDGVALUE;
    thread.start(callback(this, &Line::lineassemble));
}
Line::Line(PinName line_, float border_):linesensor(line_)
{
    thread.start(callback(this, &Line::lineassemble));
    lineborder = border_;
}

void Line::border(float border_)
{
    lineborder = border_;
}


void Line::lineassemble()
{
    while(true) {
//        linevalue = 3300 * linesensor.read();
//        if(/*linevalue > lineborder*/linesensor) judgvalue = true;
//        else judgvalue = false;
        judgvalue = linesensor;
        thread_sleep_for(1);
    }
}

Line::operator bool(){
    return judgvalue;
    }

float Line::value()
{
    return linevalue;
}

bool Line::judg()
{
    return judgvalue;
}