Diff: sensor_measure.h

Revision:

23:9b53c72fcd38

Parent:

22:902c3086394e

Child:

26:7b67bcbddde3

Child:

30:307b45a52401

--- a/sensor_measure.h	Sat Mar 21 13:08:53 2015 +0000
+++ b/sensor_measure.h	Sun Mar 22 23:32:36 2015 +0000
@@ -19,6 +19,7 @@
 #define NUMBER_SAMPLES 20 // NUMBER OF SAMPLES FOR SENSOR TESTING
 #define NUMBER_SENSORS_REGULAR 8 // number for the array of sensors
 #define NUMBER_SENSORS_SQUARE 0
+#define BLACK_THRESHOLD 2
 
 //define pinout for all the sensors
 DigitalIn pin_right_right_up(PTE29);
@@ -64,49 +65,49 @@
     int arrayBuilder = 0; //integer solely used for populating the array
     //right_right
     right_right_up.pin = &pin_right_right_up;
-    right_right_up.blackValue = 10000;
+    right_right_up.blackValue = 10000*BLACK_THRESHOLD;
     right_right_up.whiteValue = 48000;
     right_right_up.grayValue = 0; // 0 for all the non-square sensors
     right_right_up.state = 0; //setting all sensors as black at begging
     sensorArray [arrayBuilder++] = &right_right_up; //Array goes from rightmost to left, then centre?
     right_left_up.pin = &pin_right_left_up;
-    right_left_up.blackValue = 30000;
+    right_left_up.blackValue = 30000*BLACK_THRESHOLD;
     right_left_up.whiteValue = 115000;
     right_left_up.grayValue = 0;
     right_left_up.state = 1;
     sensorArray [arrayBuilder++] = &right_left_up;
     right_right_down.pin = &pin_right_right_down;
-    right_right_down.blackValue = 7000;
+    right_right_down.blackValue = 7000*BLACK_THRESHOLD;
     right_right_down.whiteValue = 20000;
     right_right_down.grayValue = 0;
     right_right_down.state = 0;
     sensorArray [arrayBuilder++] = &right_right_down;
     right_left_down.pin = &pin_right_left_down;
-    right_left_down.blackValue = 8000;
+    right_left_down.blackValue = 8000*BLACK_THRESHOLD;
     right_left_down.whiteValue = 25000;
     right_left_down.grayValue = 0;
     right_left_down.state = 1;
     sensorArray[arrayBuilder++] = &right_left_down;
     left_right_down.pin = &pin_left_right_down;
-    left_right_down.blackValue = 2500;
+    left_right_down.blackValue = 2500*BLACK_THRESHOLD;
     left_right_down.whiteValue = 21000;
     left_right_down.grayValue = 0;
     left_right_down.state = 1;
     sensorArray [arrayBuilder++] = &left_right_down;
     left_left_down.pin = &pin_left_left_down;
-    left_left_down.blackValue = 6500;
+    left_left_down.blackValue = 6500*BLACK_THRESHOLD;
     left_left_down.whiteValue = 21000;
     left_left_down.grayValue = 0;
     left_left_down.state = 0;
     sensorArray [arrayBuilder++] = &left_left_down;
     left_right_up.pin = &pin_left_right_up;
-    left_right_up.blackValue = 20000; //??? it's a trick ;)
+    left_right_up.blackValue = 20000*BLACK_THRESHOLD; //??? it's a trick ;)
     left_right_up.whiteValue =  79000;
     left_right_up.grayValue = 0;
     left_right_up.state = 1;
     sensorArray [arrayBuilder++] = &left_right_up;
     left_left_up.pin = &pin_left_left_up;
-    left_left_up.blackValue = 27000;
+    left_left_up.blackValue = 27000*BLACK_THRESHOLD;
     left_left_up.whiteValue = 120000;
     left_left_up.grayValue = 0;
     left_left_up.state = 0;
@@ -146,7 +147,7 @@
 //        sensor->state = 2;
 //        return 2;
 //    }
-//    if (freq < (2*sensor->blackValue)){
+//    if (freq < (sensor->blackValue)){
 //        sensor->state = 0;    //if it's less than black value it is black
 //        return 0;
 //    }