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@9:718987b106a8, 2015-02-23 (annotated)

Committer:
Reckstyle
Date:
Mon Feb 23 16:49:59 2015 +0000
Revision:
9:718987b106a8
Parent:
1:eace997e9a93
Child:
11:9e56d52485d1
23/02 sensors working

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
Reckstyle 9:718987b106a8 6 TESTED AND FUNCTIONAL!
Reckstyle 9:718987b106a8 7 NEEDS POPULATION FOR ALL THE SENSORS!
Reckstyle 9:718987b106a8 8 LAST REVISED 23/02
Reckstyle 0:5ca0450111f3 9 */
Reckstyle 0:5ca0450111f3 10
Reckstyle 0:5ca0450111f3 11 #ifndef _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 12 #define _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 13
Reckstyle 0:5ca0450111f3 14 #define NUMBER_SAMPLES 40 // NUMBER OF SAMPLES FOR SENSOR TESTING
Reckstyle 0:5ca0450111f3 15
Reckstyle 0:5ca0450111f3 16 //define pinout for all the sensors
Reckstyle 1:eace997e9a93 17 DigitalIn pin_right_right(PTD0);
Reckstyle 0:5ca0450111f3 18 InterruptIn pin_right_centre(PTD1);
Reckstyle 0:5ca0450111f3 19 InterruptIn pin_right_left(PTD2);
Reckstyle 0:5ca0450111f3 20 InterruptIn pin_left_right(PTD3);
Reckstyle 0:5ca0450111f3 21 InterruptIn pin_left_centre(PTD4);
Reckstyle 0:5ca0450111f3 22 InterruptIn pin_left_left(PTD5);
Reckstyle 0:5ca0450111f3 23 //InterruptIn in(PTD0); maybe more~?
Reckstyle 0:5ca0450111f3 24
Reckstyle 0:5ca0450111f3 25 //timer used by the sensor
Reckstyle 0:5ca0450111f3 26 Timer sensorTimer;
Reckstyle 0:5ca0450111f3 27
Reckstyle 9:718987b106a8 28
Reckstyle 9:718987b106a8 29
Reckstyle 0:5ca0450111f3 30 //structure for sensors
Reckstyle 0:5ca0450111f3 31 typedef struct sensor_data {
Reckstyle 9:718987b106a8 32 DigitalIn* pin;
Reckstyle 0:5ca0450111f3 33 int black_value;
Reckstyle 0:5ca0450111f3 34 int white_value;
Reckstyle 0:5ca0450111f3 35 }sensor_data;
Reckstyle 0:5ca0450111f3 36
Reckstyle 9:718987b106a8 37
Reckstyle 0:5ca0450111f3 38 sensor_data right_right;
Reckstyle 1:eace997e9a93 39 sensor_data right_centre;
Reckstyle 1:eace997e9a93 40 // and so on....
Reckstyle 0:5ca0450111f3 41
Reckstyle 1:eace997e9a93 42 //Initialise values of all sensors
Reckstyle 1:eace997e9a93 43 void sensor_initialise () {
Reckstyle 1:eace997e9a93 44 //right_right
Reckstyle 1:eace997e9a93 45 right_right.pin = &pin_right_right;
Reckstyle 1:eace997e9a93 46 right_right.black_value = 2013;
Reckstyle 1:eace997e9a93 47 right_right.white_value = 10000;
Reckstyle 1:eace997e9a93 48 //and contiune so on..
Reckstyle 1:eace997e9a93 49 }
Reckstyle 1:eace997e9a93 50
Reckstyle 0:5ca0450111f3 51
Reckstyle 0:5ca0450111f3 52 //measuring function - returning whether it is black or white line
Reckstyle 0:5ca0450111f3 53 //"1" - black, "0" - white
Reckstyle 9:718987b106a8 54 double measure (sensor_data sensor){
Reckstyle 1:eace997e9a93 55
Reckstyle 9:718987b106a8 56 sensorTimer.reset(); //reset the timer
Reckstyle 9:718987b106a8 57 double freq,period = 0.0;
Reckstyle 0:5ca0450111f3 58 int n =0; //number of samples
Reckstyle 9:718987b106a8 59 int sensor_old = 0; //variable to remember old sensor state
Reckstyle 9:718987b106a8 60 int sensor_new = 0;
Reckstyle 9:718987b106a8 61 //double time_1 = sensorTimer.read(); used for debugging
Reckstyle 0:5ca0450111f3 62 while (n < NUMBER_SAMPLES){
Reckstyle 9:718987b106a8 63 sensor_new = sensor.pin->read();
Reckstyle 9:718987b106a8 64 if ( sensor_new== 1 && sensor_old == 0){ // detect on rising edge
Reckstyle 0:5ca0450111f3 65 n++;
Reckstyle 0:5ca0450111f3 66 }
Reckstyle 9:718987b106a8 67 sensor_old = sensor_new;
Reckstyle 0:5ca0450111f3 68 }
Reckstyle 9:718987b106a8 69 double time_2 = sensorTimer.read();
Reckstyle 9:718987b106a8 70 // pc.printf(" delta time is %f , time 2 is %f " , (time_2 - time_1), time_2); //Used for debugging
Reckstyle 9:718987b106a8 71
Reckstyle 9:718987b106a8 72 period = time_2/((double)NUMBER_SAMPLES); // Get time
Reckstyle 9:718987b106a8 73 freq = (1/period); // Convert period (in us) to frequency (Hz).
Reckstyle 9:718987b106a8 74 // pc.printf(" period is %f ", period); // Used for debugging
Reckstyle 0:5ca0450111f3 75
Reckstyle 9:718987b106a8 76 return freq;//(freq < sensor.black_value*2)? 1 : 0;
Reckstyle 0:5ca0450111f3 77 }
Reckstyle 0:5ca0450111f3 78 #endif