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.h@0:058a2a20c0d1, 2020-01-27 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Mon Jan 27 09:14:17 2020 +0000
- Revision:
- 0:058a2a20c0d1
- Child:
- 2:fb0d0bb8fc5b
same 4-Axis
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
THtakahiro702286 | 0:058a2a20c0d1 | 1 | #ifndef LINE_H |
THtakahiro702286 | 0:058a2a20c0d1 | 2 | #define LINE_H |
THtakahiro702286 | 0:058a2a20c0d1 | 3 | |
THtakahiro702286 | 0:058a2a20c0d1 | 4 | #include "mbed.h" |
THtakahiro702286 | 0:058a2a20c0d1 | 5 | |
THtakahiro702286 | 0:058a2a20c0d1 | 6 | #define DEFAULT_LINESENSOR_JUDGVALUE 400 |
THtakahiro702286 | 0:058a2a20c0d1 | 7 | |
THtakahiro702286 | 0:058a2a20c0d1 | 8 | /** |
THtakahiro702286 | 0:058a2a20c0d1 | 9 | * ラインセンサ用クラス |
THtakahiro702286 | 0:058a2a20c0d1 | 10 | */ |
THtakahiro702286 | 0:058a2a20c0d1 | 11 | class Line{ |
THtakahiro702286 | 0:058a2a20c0d1 | 12 | public: |
THtakahiro702286 | 0:058a2a20c0d1 | 13 | /** |
THtakahiro702286 | 0:058a2a20c0d1 | 14 | * デフォルトコンストラクタ |
THtakahiro702286 | 0:058a2a20c0d1 | 15 | */ |
THtakahiro702286 | 0:058a2a20c0d1 | 16 | Line(PinName line_); |
THtakahiro702286 | 0:058a2a20c0d1 | 17 | |
THtakahiro702286 | 0:058a2a20c0d1 | 18 | Line(PinName line_, float border_); |
THtakahiro702286 | 0:058a2a20c0d1 | 19 | |
THtakahiro702286 | 0:058a2a20c0d1 | 20 | /** |
THtakahiro702286 | 0:058a2a20c0d1 | 21 | *ラインとの境目の位置 |
THtakahiro702286 | 0:058a2a20c0d1 | 22 | */ |
THtakahiro702286 | 0:058a2a20c0d1 | 23 | void border(float border_); |
THtakahiro702286 | 0:058a2a20c0d1 | 24 | |
THtakahiro702286 | 0:058a2a20c0d1 | 25 | |
THtakahiro702286 | 0:058a2a20c0d1 | 26 | /** |
THtakahiro702286 | 0:058a2a20c0d1 | 27 | *ラインの判別表示 |
THtakahiro702286 | 0:058a2a20c0d1 | 28 | *1だとライン踏んでいる |
THtakahiro702286 | 0:058a2a20c0d1 | 29 | *0だとラインを踏んでいない |
THtakahiro702286 | 0:058a2a20c0d1 | 30 | */ |
THtakahiro702286 | 0:058a2a20c0d1 | 31 | bool judg(); |
THtakahiro702286 | 0:058a2a20c0d1 | 32 | |
THtakahiro702286 | 0:058a2a20c0d1 | 33 | /** |
THtakahiro702286 | 0:058a2a20c0d1 | 34 | *センサの値表示 |
THtakahiro702286 | 0:058a2a20c0d1 | 35 | */ |
THtakahiro702286 | 0:058a2a20c0d1 | 36 | float value(); |
THtakahiro702286 | 0:058a2a20c0d1 | 37 | |
THtakahiro702286 | 0:058a2a20c0d1 | 38 | operator bool(); |
THtakahiro702286 | 0:058a2a20c0d1 | 39 | |
THtakahiro702286 | 0:058a2a20c0d1 | 40 | private: |
THtakahiro702286 | 0:058a2a20c0d1 | 41 | AnalogIn linesensor; |
THtakahiro702286 | 0:058a2a20c0d1 | 42 | float linevalue, lineborder; |
THtakahiro702286 | 0:058a2a20c0d1 | 43 | Thread thread; |
THtakahiro702286 | 0:058a2a20c0d1 | 44 | void lineassemble(); |
THtakahiro702286 | 0:058a2a20c0d1 | 45 | bool judgvalue; |
THtakahiro702286 | 0:058a2a20c0d1 | 46 | |
THtakahiro702286 | 0:058a2a20c0d1 | 47 | }; |
THtakahiro702286 | 0:058a2a20c0d1 | 48 | |
THtakahiro702286 | 0:058a2a20c0d1 | 49 | |
THtakahiro702286 | 0:058a2a20c0d1 | 50 | |
THtakahiro702286 | 0:058a2a20c0d1 | 51 | #endif |