Bartas Abaravicius / Mbed 2 deprecated TDP_main

Lol smth

Dependencies:   LocalPositionSystem MMA8451Q Motor_Driver Sensors mbed

Fork of TDP_main_BartFork by Yelfie

sensor_measure.h@11:9e56d52485d1, 2015-03-06 (annotated)

Committer:
Reckstyle
Date:
Fri Mar 06 11:50:07 2015 +0000
Revision:
11:9e56d52485d1
Parent:
9:718987b106a8
Child:
12:bb21b76b6375
06/03

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 11:9e56d52485d1 20 #define NUMBER_SENSORS_REGULAR 2 // 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 1:eace997e9a93 24 DigitalIn pin_right_right(PTD0);
Reckstyle 11:9e56d52485d1 25 DigitalIn pin_right_centre(PTD2);
Reckstyle 11:9e56d52485d1 26 DigitalIn pin_right_left(PTD2);
Reckstyle 11:9e56d52485d1 27 DigitalIn pin_left_right(PTD3);
Reckstyle 11:9e56d52485d1 28 DigitalIn pin_left_centre(PTD4);
Reckstyle 11:9e56d52485d1 29 DigitalIn pin_left_left(PTD5);
Reckstyle 0:5ca0450111f3 30 //InterruptIn in(PTD0); maybe more~?
Reckstyle 0:5ca0450111f3 31
Reckstyle 0:5ca0450111f3 32 //timer used by the sensor
Reckstyle 0:5ca0450111f3 33 Timer sensorTimer;
Reckstyle 0:5ca0450111f3 34
Reckstyle 9:718987b106a8 35
Reckstyle 11:9e56d52485d1 36 Serial pc(USBTX, USBRX); //used for connection to PC/debugging
Reckstyle 9:718987b106a8 37
Reckstyle 0:5ca0450111f3 38 //structure for sensors
Reckstyle 0:5ca0450111f3 39 typedef struct sensor_data {
Reckstyle 9:718987b106a8 40 DigitalIn* pin;
Reckstyle 11:9e56d52485d1 41 int blackValue;
Reckstyle 11:9e56d52485d1 42 int whiteValue; //maybe it can be removed ???
Reckstyle 11:9e56d52485d1 43 int grayValue; // if sensor is used for squares will have a gray value;
Reckstyle 11:9e56d52485d1 44 int state; //can be removed as well?
Reckstyle 0:5ca0450111f3 45 }sensor_data;
Reckstyle 0:5ca0450111f3 46
Reckstyle 9:718987b106a8 47
Reckstyle 0:5ca0450111f3 48 sensor_data right_right;
Reckstyle 1:eace997e9a93 49 sensor_data right_centre;
Reckstyle 1:eace997e9a93 50 // and so on....
Reckstyle 0:5ca0450111f3 51
Reckstyle 11:9e56d52485d1 52 sensor_data *sensorArray [NUMBER_SENSORS]; //array just used for getting value out of the sensors, helps for iteration(see main program)
Reckstyle 11:9e56d52485d1 53
Reckstyle 1:eace997e9a93 54 //Initialise values of all sensors
Reckstyle 1:eace997e9a93 55 void sensor_initialise () {
Reckstyle 11:9e56d52485d1 56 int arrayBuilder = 0; //integer solely used for populating the array
Reckstyle 1:eace997e9a93 57 //right_right
Reckstyle 1:eace997e9a93 58 right_right.pin = &pin_right_right;
Reckstyle 11:9e56d52485d1 59 right_right.blackValue = 2013;
Reckstyle 11:9e56d52485d1 60 right_right.whiteValue = 10000;
Reckstyle 11:9e56d52485d1 61 right_right.grayValue = 0; // 0 for all the non-square sensors
Reckstyle 11:9e56d52485d1 62 right_right.state = 0; //setting all sensors as black at begging
Reckstyle 11:9e56d52485d1 63 sensorArray [arrayBuilder++] = &right_right; //Array goes from rightmost to left, then centre?
Reckstyle 11:9e56d52485d1 64 right_centre.pin = &pin_right_centre;
Reckstyle 11:9e56d52485d1 65 right_centre.blackValue = 6000;
Reckstyle 11:9e56d52485d1 66 right_centre.whiteValue = 10000;
Reckstyle 11:9e56d52485d1 67 right_centre.grayValue = 0;
Reckstyle 11:9e56d52485d1 68 right_centre.state = 0;
Reckstyle 11:9e56d52485d1 69 sensorArray [arrayBuilder++] = &right_centre;
Reckstyle 1:eace997e9a93 70 //and contiune so on..
Reckstyle 1:eace997e9a93 71 }
Reckstyle 1:eace997e9a93 72
Reckstyle 0:5ca0450111f3 73
Reckstyle 0:5ca0450111f3 74 //measuring function - returning whether it is black or white line
Reckstyle 11:9e56d52485d1 75 //"0" - black, "1" - white
Reckstyle 11:9e56d52485d1 76 int measure (sensor_data sensor){
Reckstyle 1:eace997e9a93 77
Reckstyle 9:718987b106a8 78 sensorTimer.reset(); //reset the timer
Reckstyle 9:718987b106a8 79 double freq,period = 0.0;
Reckstyle 0:5ca0450111f3 80 int n =0; //number of samples
Reckstyle 9:718987b106a8 81 int sensor_old = 0; //variable to remember old sensor state
Reckstyle 9:718987b106a8 82 int sensor_new = 0;
Reckstyle 9:718987b106a8 83 //double time_1 = sensorTimer.read(); used for debugging
Reckstyle 0:5ca0450111f3 84 while (n < NUMBER_SAMPLES){
Reckstyle 9:718987b106a8 85 sensor_new = sensor.pin->read();
Reckstyle 9:718987b106a8 86 if ( sensor_new== 1 && sensor_old == 0){ // detect on rising edge
Reckstyle 0:5ca0450111f3 87 n++;
Reckstyle 0:5ca0450111f3 88 }
Reckstyle 9:718987b106a8 89 sensor_old = sensor_new;
Reckstyle 0:5ca0450111f3 90 }
Reckstyle 9:718987b106a8 91 double time_2 = sensorTimer.read();
Reckstyle 9:718987b106a8 92 // pc.printf(" delta time is %f , time 2 is %f " , (time_2 - time_1), time_2); //Used for debugging
Reckstyle 9:718987b106a8 93
Reckstyle 9:718987b106a8 94 period = time_2/((double)NUMBER_SAMPLES); // Get time
Reckstyle 9:718987b106a8 95 freq = (1/period); // Convert period (in us) to frequency (Hz).
Reckstyle 11:9e56d52485d1 96 // pc.printf(" period is %f and freq is %f ", period,freq); // Used for debugging
Reckstyle 0:5ca0450111f3 97
Reckstyle 11:9e56d52485d1 98 if (sensor.grayValue != 0 && freq < (sensor.grayValue + 1000) && freq > (sensor.grayValue - 1000)) { //definitely not sure about that!
Reckstyle 11:9e56d52485d1 99 //this is a gray value sensor in its gray region
Reckstyle 11:9e56d52485d1 100 sensor.state = 2;
Reckstyle 11:9e56d52485d1 101 return 2;
Reckstyle 11:9e56d52485d1 102 }
Reckstyle 11:9e56d52485d1 103 else if (freq < sensor.blackValue*2){
Reckstyle 11:9e56d52485d1 104 sensor.state = 0; //if it's less than black value it is black
Reckstyle 11:9e56d52485d1 105 return 0;
Reckstyle 11:9e56d52485d1 106 }
Reckstyle 11:9e56d52485d1 107 else {
Reckstyle 11:9e56d52485d1 108 sensor.state = 1;
Reckstyle 11:9e56d52485d1 109 }
Reckstyle 11:9e56d52485d1 110 return 1;
Reckstyle 11:9e56d52485d1 111 //(freq < sensor.black_value*2)? 1 : 0; //freq
Reckstyle 0:5ca0450111f3 112 }
Reckstyle 0:5ca0450111f3 113 #endif