Diff: sensors.cpp

Revision:

2:c6986ee3c7c5

Parent:

1:060690a934a9

--- a/sensors.cpp	Thu Mar 03 23:21:47 2016 +0000
+++ b/sensors.cpp	Fri Mar 11 13:51:24 2016 +0000
@@ -5,9 +5,9 @@
  * (C) Dept. Electronics & Computer Science, University of York
  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
  *
- * PsiSwarm Library Version: 0.4
+ * PsiSwarm Library Version: 0.41
  *
- * February 2016
+ * March 2016
  *
  *
  */
@@ -395,7 +395,31 @@
     }
 }
 
+// Returns the subtraction of the background base IR value from the reflection based on last call of store_illuminated_base_ir_values
+unsigned short calculate_base_ir_value ( char index ){
+    // If the index is not in the correct range or the base IR values have not been stored, return zero
+    if (index>4 || base_ir_values_stored == 0) return 0.0;
+    // If the reflection value is greater than the background value, return the subtraction 
+    if(illuminated_base_ir_values[index] > background_base_ir_values[index]){
+        return illuminated_base_ir_values[index] - background_base_ir_values[index];
+    //Otherwise return zero
+    } else {
+        return 0.0;   
+    }
+}
 
+// Returns the subtraction of the background side IR value from the reflection based on last call of store_illuminated_base_ir_values
+unsigned short calculate_side_ir_value ( char index ){
+    // If the index is not in the correct range or the base IR values have not been stored, return zero
+    if (index>7 || ir_values_stored == 0) return 0.0;
+    // If the reflection value is greater than the background value, return the subtraction
+    if(illuminated_ir_values[index] > background_ir_values[index]){
+        return illuminated_ir_values[index] - background_ir_values[index];
+    //Otherwise return zero
+    } else {
+        return 0.0;   
+    }
+}
 
 void calibrate_base_ir_sensors (void)
 {