Texas State IEEE / Mbed 2 deprecated line_sensors_to_serial

This piece of code sets a threshold and reads all the sensors. Then sends an output to the serial port.

Dependencies:   mbed

line_sensors_to_serial.cpp@0:64a47a66c95d, 2014-10-05 (annotated)

Committer:
jmar11
Date:
Sun Oct 05 02:10:38 2014 +0000
Revision:
0:64a47a66c95d
This code sets a threshold and reads all the sensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmar11 0:64a47a66c95d 1 /*This piece of code sets a threshold and reads all the sensors
jmar11 0:64a47a66c95d 2 **sample output:
jmar11 0:64a47a66c95d 3 **
jmar11 0:64a47a66c95d 4 **Please put all the sensors over white and press <enter>
jmar11 0:64a47a66c95d 5 **
jmar11 0:64a47a66c95d 6 **The values of the line sensors are below
jmar11 0:64a47a66c95d 7 **0 == white 1 == black
jmar11 0:64a47a66c95d 8 **
jmar11 0:64a47a66c95d 9 **1 2 3 4 5 6 7 8
jmar11 0:64a47a66c95d 10 **0 0 0 1 1 0 0 0
jmar11 0:64a47a66c95d 11 */
jmar11 0:64a47a66c95d 12
jmar11 0:64a47a66c95d 13 #include "mbed.h"
jmar11 0:64a47a66c95d 14
jmar11 0:64a47a66c95d 15 Serial pc(USBTX, USBRX);
jmar11 0:64a47a66c95d 16 Timer timer;
jmar11 0:64a47a66c95d 17 DigitalInOut sens[8] = {PTB8, PTB9, PTB10, PTB11, PTE2, PTE3, PTE4, PTE5}; //freedom board pins
jmar11 0:64a47a66c95d 18 int detect[8];
jmar11 0:64a47a66c95d 19
jmar11 0:64a47a66c95d 20 void readLine(int);
jmar11 0:64a47a66c95d 21 int setThresh(int);
jmar11 0:64a47a66c95d 22
jmar11 0:64a47a66c95d 23 int main() {
jmar11 0:64a47a66c95d 24 int thresh;
jmar11 0:64a47a66c95d 25 int timeOut = 0x7FFFFFFF;
jmar11 0:64a47a66c95d 26
jmar11 0:64a47a66c95d 27 pc.printf("Please put all the sensors over white and press <enter>\n\n\r");
jmar11 0:64a47a66c95d 28 pc.getc();
jmar11 0:64a47a66c95d 29
jmar11 0:64a47a66c95d 30 thresh = setThresh(timeOut);
jmar11 0:64a47a66c95d 31
jmar11 0:64a47a66c95d 32 timeOut = 2 * thresh;
jmar11 0:64a47a66c95d 33
jmar11 0:64a47a66c95d 34 pc.printf("The values of the line sensors are below\n\r0 == white 1 == black\n\n\r");
jmar11 0:64a47a66c95d 35 pc.printf("1 2 3 4 5 6 7 8\n\r");
jmar11 0:64a47a66c95d 36
jmar11 0:64a47a66c95d 37 while(1){
jmar11 0:64a47a66c95d 38 readLine(timeOut);
jmar11 0:64a47a66c95d 39
jmar11 0:64a47a66c95d 40 for(int i = 0; i < 8; i++){
jmar11 0:64a47a66c95d 41 if(detect[i] > thresh)
jmar11 0:64a47a66c95d 42 detect[i] = 1;
jmar11 0:64a47a66c95d 43 else
jmar11 0:64a47a66c95d 44 detect[i] = 0;
jmar11 0:64a47a66c95d 45
jmar11 0:64a47a66c95d 46 pc.printf("%u ", detect[i]);
jmar11 0:64a47a66c95d 47 }
jmar11 0:64a47a66c95d 48 pc.printf("\r");
jmar11 0:64a47a66c95d 49 wait_ms(50);
jmar11 0:64a47a66c95d 50 }
jmar11 0:64a47a66c95d 51 }
jmar11 0:64a47a66c95d 52
jmar11 0:64a47a66c95d 53 void readLine(int timeOut){
jmar11 0:64a47a66c95d 54 for(int i = 0; i < 8; i++){
jmar11 0:64a47a66c95d 55 sens[i].output();
jmar11 0:64a47a66c95d 56 sens[i] = 1;
jmar11 0:64a47a66c95d 57 wait_us(15);
jmar11 0:64a47a66c95d 58 sens[i] = 0;
jmar11 0:64a47a66c95d 59 sens[i].input();
jmar11 0:64a47a66c95d 60 timer.start();
jmar11 0:64a47a66c95d 61 while(sens[i] == 1 && timer.read_us() < timeOut){
jmar11 0:64a47a66c95d 62 }
jmar11 0:64a47a66c95d 63 timer.stop();
jmar11 0:64a47a66c95d 64 detect[i] = timer.read_us();
jmar11 0:64a47a66c95d 65 timer.reset();
jmar11 0:64a47a66c95d 66 }
jmar11 0:64a47a66c95d 67 }
jmar11 0:64a47a66c95d 68
jmar11 0:64a47a66c95d 69 int setThresh(int timeOut){
jmar11 0:64a47a66c95d 70 long int temp = 0;
jmar11 0:64a47a66c95d 71
jmar11 0:64a47a66c95d 72 readLine(timeOut);
jmar11 0:64a47a66c95d 73 for(int i = 0; i < 8; i++){
jmar11 0:64a47a66c95d 74 temp += detect[i];
jmar11 0:64a47a66c95d 75 }
jmar11 0:64a47a66c95d 76 return 9 * (temp / 8.0);
jmar11 0:64a47a66c95d 77 }