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Dependencies: Servo ServoArm mbed
Sources/Farbsensor.cpp@0:15a8480061e8, 2017-05-22 (annotated)
- Committer:
- beacon
- Date:
- Mon May 22 11:24:46 2017 +0000
- Revision:
- 0:15a8480061e8
o
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beacon | 0:15a8480061e8 | 1 | #include "Robot.h" |
beacon | 0:15a8480061e8 | 2 | #include "Declarations.h" |
beacon | 0:15a8480061e8 | 3 | Serial pc1(USBTX, USBRX); |
beacon | 0:15a8480061e8 | 4 | |
beacon | 0:15a8480061e8 | 5 | Farbsensor::Farbsensor() |
beacon | 0:15a8480061e8 | 6 | { |
beacon | 0:15a8480061e8 | 7 | } |
beacon | 0:15a8480061e8 | 8 | |
beacon | 0:15a8480061e8 | 9 | Farbsensor::Farbsensor(AnalogIn* FarbVoltage) |
beacon | 0:15a8480061e8 | 10 | { |
beacon | 0:15a8480061e8 | 11 | init(FarbVoltage); |
beacon | 0:15a8480061e8 | 12 | } |
beacon | 0:15a8480061e8 | 13 | |
beacon | 0:15a8480061e8 | 14 | void Farbsensor::init(AnalogIn* FarbVoltage) |
beacon | 0:15a8480061e8 | 15 | { |
beacon | 0:15a8480061e8 | 16 | this->FarbVoltage= FarbVoltage; |
beacon | 0:15a8480061e8 | 17 | } |
beacon | 0:15a8480061e8 | 18 | |
beacon | 0:15a8480061e8 | 19 | int Farbsensor::read() |
beacon | 0:15a8480061e8 | 20 | { |
beacon | 0:15a8480061e8 | 21 | static int time=0; |
beacon | 0:15a8480061e8 | 22 | static float messungen=0.0f; |
beacon | 0:15a8480061e8 | 23 | if( time < 10 ){ |
beacon | 0:15a8480061e8 | 24 | messungen += FarbVoltage->read(); |
beacon | 0:15a8480061e8 | 25 | time++; |
beacon | 0:15a8480061e8 | 26 | return -1; |
beacon | 0:15a8480061e8 | 27 | } |
beacon | 0:15a8480061e8 | 28 | else{ |
beacon | 0:15a8480061e8 | 29 | float Ufarbsensor = messungen/10.0; |
beacon | 0:15a8480061e8 | 30 | Ufarbsensor = Ufarbsensor*3300;//Set the Voltage between 0mV und 3300mV |
beacon | 0:15a8480061e8 | 31 | pc1.printf("measure = %.0f mV\n", Ufarbsensor); |
beacon | 0:15a8480061e8 | 32 | |
beacon | 0:15a8480061e8 | 33 | messungen = 0.0f; |
beacon | 0:15a8480061e8 | 34 | time = 0; |
beacon | 0:15a8480061e8 | 35 | if ((Ufarbsensor > GREEN_DOWNLIMIT) && (Ufarbsensor < GREEN_UPLIMIT)) |
beacon | 0:15a8480061e8 | 36 | { |
beacon | 0:15a8480061e8 | 37 | return GREEN; |
beacon | 0:15a8480061e8 | 38 | } |
beacon | 0:15a8480061e8 | 39 | else if(Ufarbsensor < RED_UPLIMIT) |
beacon | 0:15a8480061e8 | 40 | { |
beacon | 0:15a8480061e8 | 41 | return RED; |
beacon | 0:15a8480061e8 | 42 | } |
beacon | 0:15a8480061e8 | 43 | else |
beacon | 0:15a8480061e8 | 44 | { |
beacon | 0:15a8480061e8 | 45 | return NOBLOCK; |
beacon | 0:15a8480061e8 | 46 | } |
beacon | 0:15a8480061e8 | 47 | } |
beacon | 0:15a8480061e8 | 48 | } |
beacon | 0:15a8480061e8 | 49 | |
beacon | 0:15a8480061e8 | 50 | Farbsensor::operator int() |
beacon | 0:15a8480061e8 | 51 | { |
beacon | 0:15a8480061e8 | 52 | return read(); |
beacon | 0:15a8480061e8 | 53 | } |