Diff: IRSensor.cpp

Revision:

4:767fd282dd9c

Parent:

0:6d0671ae4648

Child:

5:e715d157ced5

--- a/IRSensor.cpp	Mon Apr 23 12:19:12 2018 +0000
+++ b/IRSensor.cpp	Tue Apr 24 18:16:05 2018 +0000
@@ -26,14 +26,27 @@
     const int IRSensor :: minIrR = 100;   //Noch definieren
     const int IRSensor :: minIrL = 100;
     const int IRSensor :: minIrF = 100;
+    const float IRSensor :: Period = 0.2;
+  
+    
 
 
 
 // IR Sensor Distanz in mm
-IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F) : 
-IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F){}
+IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor) : 
+IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F), LineSensor(LineSensor){
+    ticker.attach(callback(this, &IRSensor::codeB), Period);
+      this-> ende = ende;
+      ende = 0;
+    }
+
+
                      
-IRSensor::~IRSensor(){}
+IRSensor::~IRSensor(){
+    ticker.detach();
+    }
+
+
 
 float IRSensor::readR() {
     
@@ -84,5 +97,27 @@
         if(disF < minIrR) {
             IrF = 1;
             } else { IrF = 0; }
-        return IrF;
-}
\ No newline at end of file
+        return ende;//IrF;
+}
+
+void IRSensor :: codeB() {
+    
+        double line = LineSensor.read();
+        if (line >0.3){            //Line Sensor
+        finish = 1;
+         }else{ finish = 0;
+}    
+        if (finish != finishLast){
+        ende = 1;
+}
+        if (line == 1) {
+        ende = 1;
+}
+        finishLast = finish;    
+        //printf("Line Sensor ist %d\n",ende);
+    return;
+}
+
+int IRSensor::get_ende(){
+    return ende;
+    }
\ No newline at end of file