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

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Show/hide line numbers line.cpp Source File

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 }