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@16:3649eb1a056d, 2015-03-13 (annotated)

Committer:
Reckstyle
Date:
Fri Mar 13 18:19:01 2015 +0000
Revision:
16:3649eb1a056d
Parent:
15:6453cd351452
Child:
17:de8b3111ddc5
fixed pointers problem,still needs testing though

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 11:9e56d52485d1 6 TESTED AND FUNCTIONAL!(24/02)
Reckstyle 11:9e56d52485d1 7 TESTED (/27/02)
Reckstyle 9:718987b106a8 8 NEEDS POPULATION FOR ALL THE SENSORS!
Reckstyle 11:9e56d52485d1 9
Reckstyle 11:9e56d52485d1 10 Need testing on implementation of the array of pointers
Reckstyle 11:9e56d52485d1 11 Need implementation of third value for gray and a way to distinguish between it - will big structures affect speed?
Reckstyle 11:9e56d52485d1 12 Need to revise struct sensors - are all values reallly needed???
Reckstyle 11:9e56d52485d1 13 LAST REVISED 27/02
Reckstyle 0:5ca0450111f3 14 */
Reckstyle 0:5ca0450111f3 15
Reckstyle 0:5ca0450111f3 16 #ifndef _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 17 #define _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 18
Reckstyle 11:9e56d52485d1 19 #define NUMBER_SAMPLES 20 // NUMBER OF SAMPLES FOR SENSOR TESTING
Reckstyle 16:3649eb1a056d 20 #define NUMBER_SENSORS_REGULAR 4 // number for the array of sensors
Reckstyle 11:9e56d52485d1 21 #define NUMBER_SENSORS_SQUARE 0
Reckstyle 0:5ca0450111f3 22
Reckstyle 0:5ca0450111f3 23 //define pinout for all the sensors
Reckstyle 16:3649eb1a056d 24 DigitalIn pin_right_right_up(PTE5);
Reckstyle 16:3649eb1a056d 25 DigitalIn pin_right_left_up(PTE2);
Reckstyle 16:3649eb1a056d 26 DigitalIn pin_right_right_down(PTE3);
Reckstyle 16:3649eb1a056d 27 DigitalIn pin_right_left_down(PTE4);
Reckstyle 15:6453cd351452 28 DigitalIn pin_left_right_down(PTD4);
Reckstyle 15:6453cd351452 29 DigitalIn pin_left_left_down(PTD5);
Reckstyle 15:6453cd351452 30 //DigitalIn pin_left_right_up();
Reckstyle 15:6453cd351452 31 //DigitalIn pin_left_left_up();
Reckstyle 15:6453cd351452 32
Reckstyle 0:5ca0450111f3 33
Reckstyle 0:5ca0450111f3 34 //timer used by the sensor
Reckstyle 0:5ca0450111f3 35 Timer sensorTimer;
Reckstyle 0:5ca0450111f3 36
Reckstyle 9:718987b106a8 37
Reckstyle 11:9e56d52485d1 38 Serial pc(USBTX, USBRX); //used for connection to PC/debugging
Reckstyle 9:718987b106a8 39
Reckstyle 0:5ca0450111f3 40 //structure for sensors
Reckstyle 0:5ca0450111f3 41 typedef struct sensor_data {
Reckstyle 9:718987b106a8 42 DigitalIn* pin;
Reckstyle 11:9e56d52485d1 43 int blackValue;
Reckstyle 11:9e56d52485d1 44 int whiteValue; //maybe it can be removed ???
Reckstyle 11:9e56d52485d1 45 int grayValue; // if sensor is used for squares will have a gray value;
Reckstyle 11:9e56d52485d1 46 int state; //can be removed as well?
Reckstyle 0:5ca0450111f3 47 }sensor_data;
Reckstyle 0:5ca0450111f3 48
Reckstyle 9:718987b106a8 49
Reckstyle 15:6453cd351452 50 sensor_data right_right_up;
Reckstyle 15:6453cd351452 51 sensor_data right_left_up;
Reckstyle 15:6453cd351452 52 sensor_data right_right_down;
Reckstyle 15:6453cd351452 53 sensor_data right_left_down;
Reckstyle 15:6453cd351452 54 sensor_data left_right_down;
Reckstyle 15:6453cd351452 55 sensor_data left_left_down;
Reckstyle 15:6453cd351452 56 sensor_data left_right_up;
Reckstyle 15:6453cd351452 57 sensor_data left_left_up;
Reckstyle 1:eace997e9a93 58 // and so on....
Reckstyle 0:5ca0450111f3 59
orsharp 12:bb21b76b6375 60 sensor_data *sensorArray [NUMBER_SENSORS_REGULAR]; //array just used for getting value out of the sensors, helps for iteration(see main program)
Reckstyle 11:9e56d52485d1 61
Reckstyle 1:eace997e9a93 62 //Initialise values of all sensors
Reckstyle 1:eace997e9a93 63 void sensor_initialise () {
Reckstyle 11:9e56d52485d1 64 int arrayBuilder = 0; //integer solely used for populating the array
Reckstyle 1:eace997e9a93 65 //right_right
Reckstyle 15:6453cd351452 66 right_right_up.pin = &pin_right_right_up;
Reckstyle 15:6453cd351452 67 right_right_up.blackValue = 2013;
Reckstyle 15:6453cd351452 68 right_right_up.whiteValue = 10000;
Reckstyle 15:6453cd351452 69 right_right_up.grayValue = 0; // 0 for all the non-square sensors
Reckstyle 15:6453cd351452 70 right_right_up.state = 0; //setting all sensors as black at begging
Reckstyle 15:6453cd351452 71 sensorArray [arrayBuilder++] = &right_right_up; //Array goes from rightmost to left, then centre?
Reckstyle 15:6453cd351452 72 right_left_up.pin = &pin_right_left_up;
Reckstyle 15:6453cd351452 73 right_left_up.blackValue = 6000;
Reckstyle 15:6453cd351452 74 right_left_up.whiteValue = 10000;
Reckstyle 15:6453cd351452 75 right_left_up.grayValue = 0;
Reckstyle 15:6453cd351452 76 right_left_up.state = 0;
Reckstyle 15:6453cd351452 77 sensorArray [arrayBuilder++] = &right_left_up;
Reckstyle 16:3649eb1a056d 78 right_right_down.pin = &pin_right_right_down;
Reckstyle 16:3649eb1a056d 79 sensorArray [arrayBuilder++] = &right_right_down;
Reckstyle 16:3649eb1a056d 80 right_left_down.pin = &pin_right_left_down;
Reckstyle 16:3649eb1a056d 81 sensorArray[arrayBuilder++] = &right_left_down;
Reckstyle 1:eace997e9a93 82 //and contiune so on..
Reckstyle 1:eace997e9a93 83 }
Reckstyle 1:eace997e9a93 84
Reckstyle 16:3649eb1a056d 85 int counter1 = 0;
Reckstyle 0:5ca0450111f3 86 //measuring function - returning whether it is black or white line
Reckstyle 11:9e56d52485d1 87 //"0" - black, "1" - white
Reckstyle 16:3649eb1a056d 88 int measure (sensor_data *sensor){
Reckstyle 1:eace997e9a93 89
Reckstyle 9:718987b106a8 90 sensorTimer.reset(); //reset the timer
Reckstyle 9:718987b106a8 91 double freq,period = 0.0;
Reckstyle 0:5ca0450111f3 92 int n =0; //number of samples
Reckstyle 9:718987b106a8 93 int sensor_old = 0; //variable to remember old sensor state
Reckstyle 9:718987b106a8 94 int sensor_new = 0;
Reckstyle 9:718987b106a8 95 //double time_1 = sensorTimer.read(); used for debugging
Reckstyle 0:5ca0450111f3 96 while (n < NUMBER_SAMPLES){
Reckstyle 16:3649eb1a056d 97 sensor_new = sensor->pin->read();
Reckstyle 9:718987b106a8 98 if ( sensor_new== 1 && sensor_old == 0){ // detect on rising edge
Reckstyle 0:5ca0450111f3 99 n++;
Reckstyle 0:5ca0450111f3 100 }
Reckstyle 9:718987b106a8 101 sensor_old = sensor_new;
Reckstyle 0:5ca0450111f3 102 }
Reckstyle 9:718987b106a8 103 double time_2 = sensorTimer.read();
Reckstyle 9:718987b106a8 104 // pc.printf(" delta time is %f , time 2 is %f " , (time_2 - time_1), time_2); //Used for debugging
Reckstyle 9:718987b106a8 105
Reckstyle 9:718987b106a8 106 period = time_2/((double)NUMBER_SAMPLES); // Get time
Reckstyle 9:718987b106a8 107 freq = (1/period); // Convert period (in us) to frequency (Hz).
Reckstyle 16:3649eb1a056d 108 //pc.printf(" period is %f and freq is %f ", period,freq); // Used for debugging
Reckstyle 16:3649eb1a056d 109
Reckstyle 16:3649eb1a056d 110 sensor->state = freq;
Reckstyle 0:5ca0450111f3 111
Reckstyle 16:3649eb1a056d 112 // if (sensor->grayValue != 0 && freq < (sensor->grayValue + 1000) && freq > (sensor.grayValue - 1000)) { //definitely not sure about that!
Reckstyle 16:3649eb1a056d 113 // //this is a gray value sensor in its gray region
Reckstyle 16:3649eb1a056d 114 // sensor->state = 2;
Reckstyle 16:3649eb1a056d 115 // return 2;
Reckstyle 16:3649eb1a056d 116 // }
Reckstyle 16:3649eb1a056d 117 // else if (freq < sensor->blackValue*2){
Reckstyle 16:3649eb1a056d 118 // sensor->state = 0; //if it's less than black value it is black
Reckstyle 16:3649eb1a056d 119 // return 0;
Reckstyle 16:3649eb1a056d 120 // }
Reckstyle 16:3649eb1a056d 121 // else {
Reckstyle 16:3649eb1a056d 122 // sensor->state = 1;
Reckstyle 16:3649eb1a056d 123 // }
Reckstyle 11:9e56d52485d1 124 return 1;
Reckstyle 16:3649eb1a056d 125 //(freq < sensor->black_value*2)? 1 : 0; //freq
Reckstyle 0:5ca0450111f3 126 }
Reckstyle 0:5ca0450111f3 127 #endif