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@1:eace997e9a93, 2015-02-13 (annotated)

Committer:
Reckstyle
Date:
Fri Feb 13 15:51:24 2015 +0000
Revision:
1:eace997e9a93
Parent:
0:5ca0450111f3
Child:
9:718987b106a8
Publish;

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 Also contains the measurement function - should it???
Reckstyle 0:5ca0450111f3 6
Reckstyle 0:5ca0450111f3 7
Reckstyle 0:5ca0450111f3 8 TODO
Reckstyle 0:5ca0450111f3 9 -decide whether pins should be Interrupts INs or is it going to be polling - polling atm
Reckstyle 0:5ca0450111f3 10 - how to distingisuh between different sensor on/off frequency - maybe create a new class??
Reckstyle 0:5ca0450111f3 11 -
Reckstyle 1:eace997e9a93 12
Reckstyle 1:eace997e9a93 13 NEED TESTING!
Reckstyle 0:5ca0450111f3 14 LAST REVISED 13/02
Reckstyle 0:5ca0450111f3 15 */
Reckstyle 0:5ca0450111f3 16
Reckstyle 0:5ca0450111f3 17 #ifndef _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 18 #define _SENSOR_MEASURE_H
Reckstyle 0:5ca0450111f3 19
Reckstyle 0:5ca0450111f3 20 #define NUMBER_SAMPLES 40 // NUMBER OF SAMPLES FOR SENSOR TESTING
Reckstyle 0:5ca0450111f3 21
Reckstyle 0:5ca0450111f3 22 //define pinout for all the sensors
Reckstyle 1:eace997e9a93 23 DigitalIn pin_right_right(PTD0);
Reckstyle 0:5ca0450111f3 24 InterruptIn pin_right_centre(PTD1);
Reckstyle 0:5ca0450111f3 25 InterruptIn pin_right_left(PTD2);
Reckstyle 0:5ca0450111f3 26 InterruptIn pin_left_right(PTD3);
Reckstyle 0:5ca0450111f3 27 InterruptIn pin_left_centre(PTD4);
Reckstyle 0:5ca0450111f3 28 InterruptIn pin_left_left(PTD5);
Reckstyle 0:5ca0450111f3 29 //InterruptIn in(PTD0); maybe more~?
Reckstyle 0:5ca0450111f3 30
Reckstyle 0:5ca0450111f3 31 //timer used by the sensor
Reckstyle 0:5ca0450111f3 32 Timer sensorTimer;
Reckstyle 0:5ca0450111f3 33
Reckstyle 0:5ca0450111f3 34 //structure for sensors
Reckstyle 0:5ca0450111f3 35 typedef struct sensor_data {
Reckstyle 1:eace997e9a93 36 DigitalIn* pin; //TODO can;t seem to be able to declara this
Reckstyle 0:5ca0450111f3 37 int black_value;
Reckstyle 0:5ca0450111f3 38 int white_value;
Reckstyle 0:5ca0450111f3 39 }sensor_data;
Reckstyle 0:5ca0450111f3 40
Reckstyle 1:eace997e9a93 41 /*
Reckstyle 1:eace997e9a93 42 All sensors should be declared in the MAIN PROGRAM????
Reckstyle 1:eace997e9a93 43 sensor_data right_right;
Reckstyle 1:eace997e9a93 44 sensor_data.pin = &pin_right_right;
Reckstyle 1:eace997e9a93 45 right_right.black_value = 2013;
Reckstyle 1:eace997e9a93 46 sensor_data.white_value = 10000;
Reckstyle 1:eace997e9a93 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 1:eace997e9a93 52 //Initialise values of all sensors
Reckstyle 1:eace997e9a93 53 void sensor_initialise () {
Reckstyle 1:eace997e9a93 54 //right_right
Reckstyle 1:eace997e9a93 55 right_right.pin = &pin_right_right;
Reckstyle 1:eace997e9a93 56 right_right.black_value = 2013;
Reckstyle 1:eace997e9a93 57 right_right.white_value = 10000;
Reckstyle 1:eace997e9a93 58 //and contiune so on..
Reckstyle 1:eace997e9a93 59 }
Reckstyle 1:eace997e9a93 60
Reckstyle 0:5ca0450111f3 61
Reckstyle 0:5ca0450111f3 62 //measuring function - returning whether it is black or white line
Reckstyle 0:5ca0450111f3 63 //"1" - black, "0" - white
Reckstyle 0:5ca0450111f3 64 int measure (sensor_data sensor){
Reckstyle 1:eace997e9a93 65
Reckstyle 1:eace997e9a93 66
Reckstyle 1:eace997e9a93 67
Reckstyle 0:5ca0450111f3 68 sensorTimer.reset();
Reckstyle 0:5ca0450111f3 69 int freq,period = 0;
Reckstyle 0:5ca0450111f3 70 int n =0; //number of samples
Reckstyle 0:5ca0450111f3 71 int sensor_old = 0;//variable to remember old sensor state
Reckstyle 0:5ca0450111f3 72
Reckstyle 0:5ca0450111f3 73 while (n < NUMBER_SAMPLES){
Reckstyle 0:5ca0450111f3 74
Reckstyle 1:eace997e9a93 75 if (*sensor.pin == 1 && sensor_old == 0){ // detect on rising edge
Reckstyle 0:5ca0450111f3 76 n++;
Reckstyle 0:5ca0450111f3 77 }
Reckstyle 1:eace997e9a93 78 sensor_old = *sensor.pin;
Reckstyle 0:5ca0450111f3 79 }
Reckstyle 0:5ca0450111f3 80
Reckstyle 0:5ca0450111f3 81 period = sensorTimer.read_us()/(float)n; // Get time
Reckstyle 0:5ca0450111f3 82 freq = (1/period)*1000000; // Convert period (in us) to frequency (Hz). Works up to 100kHz.
Reckstyle 1:eace997e9a93 83
Reckstyle 1:eace997e9a93 84
Reckstyle 1:eace997e9a93 85 return (freq < sensor.black_value*2)? 1 : 0;
Reckstyle 0:5ca0450111f3 86 }
Reckstyle 0:5ca0450111f3 87 #endif