Diff: LineSensors.cpp

Revision:

1:a45634860f11

Parent:

0:acd430185ac0

--- a/LineSensors.cpp	Tue Oct 14 18:03:59 2014 +0000
+++ b/LineSensors.cpp	Wed Oct 15 20:34:47 2014 +0000
@@ -12,14 +12,14 @@
     sensors[0][2] = IO17;sensors[1][2] = IO18;sensors[2][2] = IO19;sensors[3][2] = IO20;
     sensors[4][2] = IO21;sensors[5][2] = IO22;sensors[6][2] = IO23;sensors[7][2] = IO24;
 
-    timeOut = 500000;
+    timeOut = 100000;
 }
 
 void LineSensors::setThreshold(){
     read();
     for(int j = 0; j < 3; j++){
         for(int i = 0; i < 8; i++){
-            thresh[i][j] = sensors[i][j];
+            thresh[i][j] = sensVal[i][j];
             thresh[i][j] *= 7;
         }
     }
@@ -29,10 +29,8 @@
     DigitalInOut2 sensor(sensors[0][0]);    //attribute the first pin in the sensors array to sensor (the DigitalInOut2 object)
     
     for(int j = 0; j < 3; j++){
-        for(int i = 0; i < 8; i++){
-            sensor.gpio.mask = gpio_set(sensors[i][j]); //change the pin that is attributed to sensor (the DigitalInOut2 object)
-            sensor.output(); 
-            sensor = 1;
+        for(int i = 0; i < 8; i ++){
+            gpio_init_inout(&sensor.gpio, sensors[i][j], PIN_OUTPUT, PullNone, 1); //change the pin that is attributed to sensor (the DigitalInOut2 object)
             wait_us(15);
             sensor = 0;
             sensor.input();
@@ -47,12 +45,13 @@
 }
 
 void LineSensors::lineDetect(bool out[8][3]){
+    read();
     for(int j = 0; j < 3; j++){
         for(int i = 0; i < 8; i++){
-            if(sensors[i][j] > thresh[i][j])
-                out[i][j] = true;
+            if(sensVal[i][j] > thresh[i][j])
+                out[i][j] = 1;
             else
-                out[i][j] = false;
+                out[i][j] = 0;
         }
     }
 }
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