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.h@2:fb0d0bb8fc5b, 2021-03-06 (annotated)

Committer:
THtakahiro702286
Date:
Sat Mar 06 07:25:53 2021 +0000
Revision:
2:fb0d0bb8fc5b
Parent:
0:058a2a20c0d1 
digitalIn

Who changed what in which revision?

UserRevisionLine numberNew 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 2:fb0d0bb8fc5b 41 // AnalogIn linesensor;
THtakahiro702286 2:fb0d0bb8fc5b 42 DigitalIn linesensor;
THtakahiro702286 0:058a2a20c0d1 43 float linevalue, lineborder;
THtakahiro702286 0:058a2a20c0d1 44 Thread thread;
THtakahiro702286 0:058a2a20c0d1 45 void lineassemble();
THtakahiro702286 0:058a2a20c0d1 46 bool judgvalue;
THtakahiro702286 0:058a2a20c0d1 47
THtakahiro702286 0:058a2a20c0d1 48 };
THtakahiro702286 0:058a2a20c0d1 49
THtakahiro702286 0:058a2a20c0d1 50
THtakahiro702286 0:058a2a20c0d1 51
THtakahiro702286 0:058a2a20c0d1 52 #endif