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
00001 #include "line.h" 00002 00003 Line::Line(PinName line_):linesensor(line_) 00004 { 00005 lineborder = DEFAULT_LINESENSOR_JUDGVALUE; 00006 thread.start(callback(this, &Line::lineassemble)); 00007 } 00008 Line::Line(PinName line_, float border_):linesensor(line_) 00009 { 00010 thread.start(callback(this, &Line::lineassemble)); 00011 lineborder = border_; 00012 } 00013 00014 void Line::border(float border_) 00015 { 00016 lineborder = border_; 00017 } 00018 00019 00020 void Line::lineassemble() 00021 { 00022 while(true) { 00023 // linevalue = 3300 * linesensor.read(); 00024 // if(/*linevalue > lineborder*/linesensor) judgvalue = true; 00025 // else judgvalue = false; 00026 judgvalue = linesensor; 00027 thread_sleep_for(1); 00028 } 00029 } 00030 00031 Line::operator bool(){ 00032 return judgvalue; 00033 } 00034 00035 float Line::value() 00036 { 00037 return linevalue; 00038 } 00039 00040 bool Line::judg() 00041 { 00042 return judgvalue; 00043 }
Generated on Sat Jul 30 2022 11:38:05 by
1.7.2