ColourSensor_H.h

00001 // ColourSensor_H.h
00002 
00003 #ifndef ColourSensor_H
00004 #define ColourSensor_H
00005 
00006 #include "mbed.h"
00007 
00008 // ColourSensor is used to detect the coloured disks and control the Solenoid
00009 /* Attributes:
00010     - Pinouts of sensor inputs and solenoid output
00011 
00012    Methods:
00013     - solenoidSet
00014     - readColSenIf
00015     - readColSenWhich
00016     - colourCheck
00017     - makeColourActive
00018 */
00019 
00020 class ColourSensor {
00021     public:
00022         void solenoidSet(bool state); // Setting solenoid state
00023         void solenoidOn(); // Interrupt to turn ON solenoid 
00024         void readSensor(); // Read sensors
00025         void convert(); // converts sensor readings to sensible logic
00026         void process(); // Colour processing
00027         void initialConditions(); // Sets initial conditions
00028         
00029         DigitalIn inOne;
00030         DigitalIn inTwo;
00031         DigitalOut solenoid;
00032         
00033         int firstLoop;
00034         bool toggleA;
00035         bool toggleB;
00036         bool toggleC;
00037         bool toggleConst; // Can be used to toggle colour processing
00038         
00039         bool newDetection; // Colour newly detected? (i.e. is now but wasn't before?) Yes/No -> 1/0
00040         bool flagColour;
00041         bool sensorOneCheck, sensorTwoCheck;
00042         ColourSensor(PinName pin1, PinName pin2, PinName pin3);
00043         
00044         void makeColourActive();
00045         void ColourCheck();
00046         bool diskColour; // Colour of disk: Red/Blue -> 1/0
00047         bool diskHave;
00048         bool sensorColour;
00049     private:
00050         bool sensorOne;
00051         bool sensorOneOld; // Comparison bool
00052         
00053         bool sensorTwo; 
00054          // Have disk? Yes/No -> 1/0
00055         bool sensorTwoOld;
00056         
00057         bool sensorIf; // Yes/No -> 1/0
00058         bool sensorIfOld;
00059          // Red/Blue -> 0/1
00060         
00061         
00062         bool solenoidState; // State of solenoid: On/Off -> 1/0
00063         
00064 };
00065 
00066 #endif