Yelfie / Mbed 2 deprecated TDP_main_BartFork

Don't want to screw something by updating the code as Ivelin updated himself while I was writing so I am forking it.

Dependencies:   LocalPositionSystem MMA8451Q Motor_Driver Sensors mbed

Fork of TDP_main by Yelfie

sensor_measure.h@0:5ca0450111f3, 2015-02-13 (annotated)

Committer:
Reckstyle
Date:
Fri Feb 13 15:18:43 2015 +0000
Revision:
0:5ca0450111f3
Child:
1:eace997e9a93
First save;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Reckstyle 0:5ca0450111f3 1 /*
Reckstyle 0:5ca0450111f3 2
Reckstyle 0:5ca0450111f3 3 Sensor measurement header file.
Reckstyle 0:5ca0450111f3 4 Contains the pin declarations and variables for all sensors-related work
Reckstyle 0:5ca0450111f3 5 Also contains the measurement function - should it???
Reckstyle 0:5ca0450111f3 6
Reckstyle 0:5ca0450111f3 7
Reckstyle 0:5ca0450111f3 8 TODO
Reckstyle 0:5ca0450111f3 9 -decide whether pins should be Interrupts INs or is it going to be polling - polling atm
Reckstyle 0:5ca0450111f3 10 - how to distingisuh between different sensor on/off frequency - maybe create a new class??
Reckstyle 0:5ca0450111f3 11 -
Reckstyle 0:5ca0450111f3 12 LAST REVISED 13/02
Reckstyle 0:5ca0450111f3 13 */
Reckstyle 0:5ca0450111f3 14
Reckstyle 0:5ca0450111f3 15 #ifndef _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 16 #define _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 17
Reckstyle 0:5ca0450111f3 18 #define NUMBER_SAMPLES 40 // NUMBER OF SAMPLES FOR SENSOR TESTING
Reckstyle 0:5ca0450111f3 19
Reckstyle 0:5ca0450111f3 20 //define pinout for all the sensors
Reckstyle 0:5ca0450111f3 21 InterruptIn pin_right_right(PTD0);
Reckstyle 0:5ca0450111f3 22 InterruptIn pin_right_centre(PTD1);
Reckstyle 0:5ca0450111f3 23 InterruptIn pin_right_left(PTD2);
Reckstyle 0:5ca0450111f3 24 InterruptIn pin_left_right(PTD3);
Reckstyle 0:5ca0450111f3 25 InterruptIn pin_left_centre(PTD4);
Reckstyle 0:5ca0450111f3 26 InterruptIn pin_left_left(PTD5);
Reckstyle 0:5ca0450111f3 27 //InterruptIn in(PTD0); maybe more~?
Reckstyle 0:5ca0450111f3 28
Reckstyle 0:5ca0450111f3 29 //timer used by the sensor
Reckstyle 0:5ca0450111f3 30 Timer sensorTimer;
Reckstyle 0:5ca0450111f3 31
Reckstyle 0:5ca0450111f3 32 //structure for sensors
Reckstyle 0:5ca0450111f3 33 typedef struct sensor_data {
Reckstyle 0:5ca0450111f3 34 InterruptIn pin;
Reckstyle 0:5ca0450111f3 35 int black_value;
Reckstyle 0:5ca0450111f3 36 int white_value;
Reckstyle 0:5ca0450111f3 37 }sensor_data;
Reckstyle 0:5ca0450111f3 38
Reckstyle 0:5ca0450111f3 39 //Decalre all the sensors
Reckstyle 0:5ca0450111f3 40 //sample rightright
Reckstyle 0:5ca0450111f3 41 sensor_data right_right;
Reckstyle 0:5ca0450111f3 42 right_right.pin = pin_right_right;
Reckstyle 0:5ca0450111f3 43 right_right.black_value = 2013;
Reckstyle 0:5ca0450111f3 44 right_right.white_value = 10000;
Reckstyle 0:5ca0450111f3 45
Reckstyle 0:5ca0450111f3 46 // and continue with the others..
Reckstyle 0:5ca0450111f3 47
Reckstyle 0:5ca0450111f3 48 //measuring function - returning whether it is black or white line
Reckstyle 0:5ca0450111f3 49 //"1" - black, "0" - white
Reckstyle 0:5ca0450111f3 50 int measure (sensor_data sensor){
Reckstyle 0:5ca0450111f3 51 sensorTimer.reset();
Reckstyle 0:5ca0450111f3 52 int freq,period = 0;
Reckstyle 0:5ca0450111f3 53 int n =0; //number of samples
Reckstyle 0:5ca0450111f3 54 int sensor_old = 0;//variable to remember old sensor state
Reckstyle 0:5ca0450111f3 55
Reckstyle 0:5ca0450111f3 56 while (n < NUMBER_SAMPLES){
Reckstyle 0:5ca0450111f3 57
Reckstyle 0:5ca0450111f3 58 if (sensor.pin == 1 && sensor_old == 0){ // detect on rising edge
Reckstyle 0:5ca0450111f3 59 n++;
Reckstyle 0:5ca0450111f3 60 }
Reckstyle 0:5ca0450111f3 61 sensor_old = sensor.pin;
Reckstyle 0:5ca0450111f3 62 }
Reckstyle 0:5ca0450111f3 63
Reckstyle 0:5ca0450111f3 64 period = sensorTimer.read_us()/(float)n; // Get time
Reckstyle 0:5ca0450111f3 65 freq = (1/period)*1000000; // Convert period (in us) to frequency (Hz). Works up to 100kHz.
Reckstyle 0:5ca0450111f3 66 return freq;
Reckstyle 0:5ca0450111f3 67 }
Reckstyle 0:5ca0450111f3 68 #endif