final_8조 / Mbed OS Line-Tracking

ss

Dependencies:   WS2812 PixelArray Adafruit_GFX

IRreflection.h

Committer:
eunsong
Date:
2019-06-15
Revision:
3:700a0cf6beea
Parent:
0:27e31cadeb36

File content as of revision 3:700a0cf6beea:

#ifndef TRSensors_h
#define TRSensors_h

#include "mbed.h"
#define NUMSENSORS 5

class TRSensors
{
  public:
    
    TRSensors(PinName MOSI,PinName MISO, PinName CLK, PinName CS);
    
    void calibrate_init(int *calibratedMin, int *calibratedMax);
  
    void calibrate(int *sensor_values, int *calibratedMin, int *calibratedMax);
    
    void AnalogRead(int *sensor_values);

    void readCalibrated(int *sensor_values, int *calibratedMin, int *calibratedMax);

    int readLine(int *sensor_values , int *calibratedMin, int *calibratedMax, int *online, char white_line = 0);
    
    int sqrt(int m, int k);

  char _numSensors;
  int max_sensor_values[NUMSENSORS];
  int min_sensor_values[NUMSENSORS];
    
 private:
  SPI _spi;
  DigitalOut _spi_cs;
 
};

#endif