zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

Sources/Farbsensor.cpp

Committer:
beacon
Date:
2017-05-03
Revision:
10:f76476943a6c
Parent:
4:67d7177c213f
Child:
12:c0bcb95885dd

File content as of revision 10:f76476943a6c:

#include "Robot.h"
#include "Declarations.h"


Farbsensor::Farbsensor()
{   
}

Farbsensor::Farbsensor(AnalogIn* FarbVoltage)
{
    init(FarbVoltage);  
}

void Farbsensor::init(AnalogIn* FarbVoltage)
{
    this->FarbVoltage= FarbVoltage;
}

int Farbsensor::read()
{
    int farbe;
    float Messungen=0.0;
    for(int i=0;i<10;i++){
        Messungen+=FarbVoltage->read();
        wait(0.2);
        }  
    float Ufarbsensor = Messungen/10.0;
    Ufarbsensor = Ufarbsensor*3300; //Set the Voltage between 0mV und 3300mV

    if ((Ufarbsensor > GREEN_DOWNLIMIT) && (Ufarbsensor < GREEN_UPLIMIT))
        {
         farbe=1;
        }
    else if(Ufarbsensor < RED_UPLIMIT)
        {
         farbe=-1;
        }
    else 
        {
         farbe=0;
        }
    return farbe;
}

Farbsensor::operator int()
{
    return read();
}