Diff: LineSensors.cpp

Revision:

0:acd430185ac0

Child:

1:a45634860f11

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LineSensors.cpp	Tue Oct 14 18:03:59 2014 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "LineSensors.h"
+#include "DigitalInOut2.h"
+
+LineSensors::LineSensors(PinName IO1, PinName IO2, PinName IO3, PinName IO4, PinName IO5, PinName IO6, PinName IO7, PinName IO8, 
+                    PinName IO9, PinName IO10, PinName IO11, PinName IO12, PinName IO13, PinName IO14, PinName IO15, PinName IO16, 
+                    PinName IO17, PinName IO18, PinName IO19, PinName IO20, PinName IO21, PinName IO22, PinName IO23, PinName IO24){
+    sensors[0][0] = IO1;sensors[1][0] = IO2;sensors[2][0] = IO3;sensors[3][0] = IO4;
+    sensors[4][0] = IO5;sensors[5][0] = IO6;sensors[6][0] = IO7;sensors[7][0] = IO8;
+    sensors[0][1] = IO9;sensors[1][1] = IO10;sensors[2][1] = IO11;sensors[3][1] = IO12;
+    sensors[4][1] = IO13;sensors[5][1] = IO14;sensors[6][1] = IO15;sensors[7][1] = IO16;
+    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;
+}
+
+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] *= 7;
+        }
+    }
+}
+
+void LineSensors::read(){
+    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;
+            wait_us(15);
+            sensor = 0;
+            sensor.input();
+            timer.start();
+            while(sensor == 1 && timer.read_us() < timeOut){
+            }
+            timer.stop();
+            sensVal[i][j] = timer.read_us();
+            timer.reset();
+        }
+    }
+}
+
+void LineSensors::lineDetect(bool out[8][3]){
+    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;
+            else
+                out[i][j] = false;
+        }
+    }
+}
\ No newline at end of file