Roboshark / Mbed 2 deprecated Roboshark_V8

Kommt ins Ziwl

Dependencies:   mbed

Fork of Roboshark_V7 by Roboshark

IRSensor.h@9:feabe0b7cea4, 2018-05-07 (annotated)

Committer:
ahlervin
Date:
Mon May 07 15:41:52 2018 +0000
Revision:
9:feabe0b7cea4
Parent:
7:862d80e0ea2d 
Aufger?umtes Programm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahlervin 9:feabe0b7cea4 1 /*Roboshark V7
ahlervin 6:7bbcdd07bc2d 2 IRSensor.h
ahlervin 6:7bbcdd07bc2d 3 Erstellt: V. Ahlers
ahlervin 6:7bbcdd07bc2d 4 geändert: V.Ahlers
ahlervin 6:7bbcdd07bc2d 5 V.5.18
ahlervin 6:7bbcdd07bc2d 6 */
Jacqueline 0:6d0671ae4648 7
Jacqueline 0:6d0671ae4648 8
Jacqueline 0:6d0671ae4648 9 #ifndef IRSENSOR_H_
Jacqueline 0:6d0671ae4648 10 #define IRSENSOR_H_
Jacqueline 0:6d0671ae4648 11
Jacqueline 0:6d0671ae4648 12 #include <cstdlib>
Jacqueline 0:6d0671ae4648 13 #include <mbed.h>
Jacqueline 0:6d0671ae4648 14
Jacqueline 0:6d0671ae4648 15 class IRSensor {
Jacqueline 0:6d0671ae4648 16
Jacqueline 0:6d0671ae4648 17 public:
ahlervin 4:767fd282dd9c 18 IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor);
Jacqueline 0:6d0671ae4648 19
Jacqueline 0:6d0671ae4648 20 float disR;
Jacqueline 0:6d0671ae4648 21 float disL;
Jacqueline 0:6d0671ae4648 22 float disF;
Jacqueline 0:6d0671ae4648 23 int IrR;
Jacqueline 0:6d0671ae4648 24 int IrL;
Jacqueline 0:6d0671ae4648 25 int IrF;
Jacqueline 0:6d0671ae4648 26
Jacqueline 0:6d0671ae4648 27 float measR;
Jacqueline 0:6d0671ae4648 28 float measL;
Jacqueline 0:6d0671ae4648 29 float measF;
ahlervin 4:767fd282dd9c 30 double Line;
Jacqueline 0:6d0671ae4648 31
Jacqueline 0:6d0671ae4648 32 virtual ~IRSensor();
Jacqueline 0:6d0671ae4648 33 float readR();
Jacqueline 0:6d0671ae4648 34 float readL();
Jacqueline 0:6d0671ae4648 35 float readF();
Jacqueline 0:6d0671ae4648 36 int codeR();
Jacqueline 0:6d0671ae4648 37 int codeL();
Jacqueline 0:6d0671ae4648 38 int codeF();
ahlervin 4:767fd282dd9c 39 void codeB();
ahlervin 4:767fd282dd9c 40 int get_ende();
ahlervin 4:767fd282dd9c 41 int ende;
Jacqueline 0:6d0671ae4648 42
Jacqueline 0:6d0671ae4648 43 private:
Jacqueline 0:6d0671ae4648 44 AnalogIn& IrRight;
Jacqueline 0:6d0671ae4648 45 AnalogIn& IrLeft;
Jacqueline 0:6d0671ae4648 46 AnalogIn& IrFront;
ahlervin 4:767fd282dd9c 47 AnalogIn& LineSensor;
Jacqueline 0:6d0671ae4648 48 float dis2R;
Jacqueline 0:6d0671ae4648 49 float dis2L;
Jacqueline 0:6d0671ae4648 50 float dis2F;
ahlervin 7:862d80e0ea2d 51 int roundL;
ahlervin 7:862d80e0ea2d 52 int roundR;
ahlervin 7:862d80e0ea2d 53 int roundF;
Jacqueline 0:6d0671ae4648 54 static const float PR1;
Jacqueline 0:6d0671ae4648 55 static const float PR2;
Jacqueline 0:6d0671ae4648 56 static const float PR3;
Jacqueline 0:6d0671ae4648 57 static const float PR4;
Jacqueline 0:6d0671ae4648 58 static const float PR5;
Jacqueline 0:6d0671ae4648 59 static const float PL1;
Jacqueline 0:6d0671ae4648 60 static const float PL2;
Jacqueline 0:6d0671ae4648 61 static const float PL3;
Jacqueline 0:6d0671ae4648 62 static const float PL4;
Jacqueline 0:6d0671ae4648 63 static const float PL5;
Jacqueline 0:6d0671ae4648 64 static const float PF1;
Jacqueline 0:6d0671ae4648 65 static const float PF2;
Jacqueline 0:6d0671ae4648 66 static const float PF3;
Jacqueline 0:6d0671ae4648 67 static const float PF4;
Jacqueline 0:6d0671ae4648 68 static const float PF5;
Jacqueline 0:6d0671ae4648 69 static const int minIrR;
Jacqueline 0:6d0671ae4648 70 static const int minIrL;
Jacqueline 0:6d0671ae4648 71 static const int minIrF;
ahlervin 4:767fd282dd9c 72 static const float Period;
ahlervin 4:767fd282dd9c 73 double line;
ahlervin 4:767fd282dd9c 74 bool finish;
ahlervin 4:767fd282dd9c 75 bool finishLast;
ahlervin 4:767fd282dd9c 76 Ticker ticker;
Jacqueline 0:6d0671ae4648 77
Jacqueline 0:6d0671ae4648 78 };
Jacqueline 0:6d0671ae4648 79
Jacqueline 0:6d0671ae4648 80 #endif /*IRSensor_H_*/