Kommt ins Ziwl
Dependencies: mbed
Fork of Roboshark_V7 by
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?
User | Revision | Line number | New 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_*/ |