Ivelin Kozarev / Mbed 2 deprecated TDP_main_fork

Team Design project 3 main file

Dependencies:   LocalPositionSystem MMA8451Q Motor_Driver Sensors mbed

Fork of TDP_main by Yelfie

sensor_measure.h@37:3d14df6dec34, 2015-03-26 (annotated)

Committer:
Reckstyle
Date:
Thu Mar 26 20:13:49 2015 +0000
Revision:
37:3d14df6dec34
Parent:
36:a48d57d63630 
fdsa

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 22:902c3086394e 20 #define NUMBER_SENSORS_REGULAR 8 // number for the array of sensors
Reckstyle 11:9e56d52485d1 21 #define NUMBER_SENSORS_SQUARE 0
Reckstyle 23:9b53c72fcd38 22 #define BLACK_THRESHOLD 2
Reckstyle 0:5ca0450111f3 23
Reckstyle 0:5ca0450111f3 24 //define pinout for all the sensors
Reckstyle 29:307b45a52401 25 DigitalIn pin_right_right_up(PTC2);
Reckstyle 29:307b45a52401 26 DigitalIn pin_right_left_up(PTE30);
Reckstyle 29:307b45a52401 27 DigitalIn pin_right_right_down(PTE29);
Reckstyle 29:307b45a52401 28 DigitalIn pin_right_left_down(PTC1);
Reckstyle 29:307b45a52401 29 DigitalIn pin_left_right_down(PTB3);
Reckstyle 22:902c3086394e 30 DigitalIn pin_left_left_down(PTE22); //pte22
Reckstyle 29:307b45a52401 31 DigitalIn pin_left_right_up(PTE23); //pte29
Reckstyle 29:307b45a52401 32 DigitalIn pin_left_left_up(PTB2);
Reckstyle 37:3d14df6dec34 33 DigitalIn pin_center_left (PTC7);
Reckstyle 37:3d14df6dec34 34 DigitalIn pin_center_center (PTC0);
Reckstyle 37:3d14df6dec34 35 DigitalIn pin_center_right (PTC3);
Reckstyle 0:5ca0450111f3 36
Reckstyle 0:5ca0450111f3 37 //timer used by the sensor
Reckstyle 0:5ca0450111f3 38 Timer sensorTimer;
Reckstyle 0:5ca0450111f3 39
Reckstyle 9:718987b106a8 40
Reckstyle 11:9e56d52485d1 41 Serial pc(USBTX, USBRX); //used for connection to PC/debugging
Reckstyle 9:718987b106a8 42
Reckstyle 0:5ca0450111f3 43 //structure for sensors
Reckstyle 0:5ca0450111f3 44 typedef struct sensor_data {
Reckstyle 9:718987b106a8 45 DigitalIn* pin;
Reckstyle 11:9e56d52485d1 46 int blackValue;
Reckstyle 11:9e56d52485d1 47 int whiteValue; //maybe it can be removed ???
Reckstyle 11:9e56d52485d1 48 int grayValue; // if sensor is used for squares will have a gray value;
Reckstyle 11:9e56d52485d1 49 int state; //can be removed as well?
Reckstyle 0:5ca0450111f3 50 }sensor_data;
Reckstyle 0:5ca0450111f3 51
Reckstyle 9:718987b106a8 52
Reckstyle 15:6453cd351452 53 sensor_data right_right_up;
Reckstyle 15:6453cd351452 54 sensor_data right_left_up;
Reckstyle 15:6453cd351452 55 sensor_data right_right_down;
Reckstyle 15:6453cd351452 56 sensor_data right_left_down;
Reckstyle 15:6453cd351452 57 sensor_data left_right_down;
Reckstyle 15:6453cd351452 58 sensor_data left_left_down;
Reckstyle 15:6453cd351452 59 sensor_data left_right_up;
Reckstyle 15:6453cd351452 60 sensor_data left_left_up;
Reckstyle 37:3d14df6dec34 61 sensor_data center_left;
Reckstyle 37:3d14df6dec34 62 sensor_data center_center;
Reckstyle 37:3d14df6dec34 63 sensor_data center_right;
Reckstyle 1:eace997e9a93 64 // and so on....
Reckstyle 0:5ca0450111f3 65
Reckstyle 37:3d14df6dec34 66 sensor_data *sensorArray [NUMBER_SENSORS_REGULAR+3]; //array just used for getting value out of the sensors, helps for iteration(see main program)
Reckstyle 11:9e56d52485d1 67
Reckstyle 1:eace997e9a93 68 //Initialise values of all sensors
Reckstyle 1:eace997e9a93 69 void sensor_initialise () {
Reckstyle 11:9e56d52485d1 70 int arrayBuilder = 0; //integer solely used for populating the array
Reckstyle 1:eace997e9a93 71 //right_right
Reckstyle 15:6453cd351452 72 right_right_up.pin = &pin_right_right_up;
Reckstyle 37:3d14df6dec34 73 right_right_up.blackValue = 4200*BLACK_THRESHOLD;
Reckstyle 32:d1dc27f4a18d 74 right_right_up.whiteValue = 72000;
Reckstyle 15:6453cd351452 75 right_right_up.grayValue = 0; // 0 for all the non-square sensors
Reckstyle 15:6453cd351452 76 right_right_up.state = 0; //setting all sensors as black at begging
Reckstyle 15:6453cd351452 77 sensorArray [arrayBuilder++] = &right_right_up; //Array goes from rightmost to left, then centre?
Reckstyle 15:6453cd351452 78 right_left_up.pin = &pin_right_left_up;
Reckstyle 37:3d14df6dec34 79 right_left_up.blackValue = 5000*BLACK_THRESHOLD;
Reckstyle 32:d1dc27f4a18d 80 right_left_up.whiteValue = 70000;
Reckstyle 15:6453cd351452 81 right_left_up.grayValue = 0;
Reckstyle 17:de8b3111ddc5 82 right_left_up.state = 1;
Reckstyle 15:6453cd351452 83 sensorArray [arrayBuilder++] = &right_left_up;
Reckstyle 16:3649eb1a056d 84 right_right_down.pin = &pin_right_right_down;
Reckstyle 37:3d14df6dec34 85 right_right_down.blackValue = 900*BLACK_THRESHOLD;
Reckstyle 32:d1dc27f4a18d 86 right_right_down.whiteValue = 12000;
Reckstyle 17:de8b3111ddc5 87 right_right_down.grayValue = 0;
Reckstyle 17:de8b3111ddc5 88 right_right_down.state = 0;
Reckstyle 16:3649eb1a056d 89 sensorArray [arrayBuilder++] = &right_right_down;
Reckstyle 16:3649eb1a056d 90 right_left_down.pin = &pin_right_left_down;
Reckstyle 37:3d14df6dec34 91 right_left_down.blackValue = 1500*BLACK_THRESHOLD;
Reckstyle 32:d1dc27f4a18d 92 right_left_down.whiteValue = 17000;
Reckstyle 17:de8b3111ddc5 93 right_left_down.grayValue = 0;
Reckstyle 17:de8b3111ddc5 94 right_left_down.state = 1;
Reckstyle 16:3649eb1a056d 95 sensorArray[arrayBuilder++] = &right_left_down;
Reckstyle 17:de8b3111ddc5 96 left_right_down.pin = &pin_left_right_down;
Reckstyle 37:3d14df6dec34 97 left_right_down.blackValue = 1000*BLACK_THRESHOLD;
Reckstyle 29:307b45a52401 98 left_right_down.whiteValue = 14000;
Reckstyle 17:de8b3111ddc5 99 left_right_down.grayValue = 0;
Reckstyle 17:de8b3111ddc5 100 left_right_down.state = 1;
Reckstyle 17:de8b3111ddc5 101 sensorArray [arrayBuilder++] = &left_right_down;
Reckstyle 17:de8b3111ddc5 102 left_left_down.pin = &pin_left_left_down;
Reckstyle 37:3d14df6dec34 103 left_left_down.blackValue = 1000*BLACK_THRESHOLD;
Reckstyle 32:d1dc27f4a18d 104 left_left_down.whiteValue = 10000;
Reckstyle 17:de8b3111ddc5 105 left_left_down.grayValue = 0;
Reckstyle 17:de8b3111ddc5 106 left_left_down.state = 0;
Reckstyle 17:de8b3111ddc5 107 sensorArray [arrayBuilder++] = &left_left_down;
Reckstyle 17:de8b3111ddc5 108 left_right_up.pin = &pin_left_right_up;
Reckstyle 37:3d14df6dec34 109 left_right_up.blackValue = 5000*BLACK_THRESHOLD; //??? it's a trick ;)
Reckstyle 32:d1dc27f4a18d 110 left_right_up.whiteValue = 35000;
Reckstyle 17:de8b3111ddc5 111 left_right_up.grayValue = 0;
Reckstyle 17:de8b3111ddc5 112 left_right_up.state = 1;
Reckstyle 17:de8b3111ddc5 113 sensorArray [arrayBuilder++] = &left_right_up;
Reckstyle 17:de8b3111ddc5 114 left_left_up.pin = &pin_left_left_up;
Reckstyle 37:3d14df6dec34 115 left_left_up.blackValue = 9500*BLACK_THRESHOLD;
Reckstyle 32:d1dc27f4a18d 116 left_left_up.whiteValue = 46000;
Reckstyle 17:de8b3111ddc5 117 left_left_up.grayValue = 0;
Reckstyle 17:de8b3111ddc5 118 left_left_up.state = 0;
Reckstyle 17:de8b3111ddc5 119 sensorArray [arrayBuilder++] = &left_left_up;
Reckstyle 37:3d14df6dec34 120 center_left.pin = &pin_center_left;
Reckstyle 37:3d14df6dec34 121 center_left.grayValue = 0;
Reckstyle 37:3d14df6dec34 122 center_left.state = 0;
Reckstyle 37:3d14df6dec34 123 sensorArray [arrayBuilder++] = &center_left;
Reckstyle 37:3d14df6dec34 124 center_center.pin = &pin_center_center;
Reckstyle 37:3d14df6dec34 125 center_center.grayValue = 0;
Reckstyle 37:3d14df6dec34 126 center_center.state = 0;
Reckstyle 37:3d14df6dec34 127 sensorArray [arrayBuilder++] = &center_center;
Reckstyle 37:3d14df6dec34 128 center_right.pin = &pin_center_right;
Reckstyle 37:3d14df6dec34 129 center_right.grayValue = 0;
Reckstyle 37:3d14df6dec34 130 center_right.state = 0 ;
Reckstyle 37:3d14df6dec34 131 sensorArray [arrayBuilder++] = &center_right;
Reckstyle 1:eace997e9a93 132 }
Reckstyle 1:eace997e9a93 133
Reckstyle 16:3649eb1a056d 134 int counter1 = 0;
Reckstyle 0:5ca0450111f3 135 //measuring function - returning whether it is black or white line
Reckstyle 11:9e56d52485d1 136 //"0" - black, "1" - white
Reckstyle 16:3649eb1a056d 137 int measure (sensor_data *sensor){
Reckstyle 1:eace997e9a93 138
Reckstyle 9:718987b106a8 139 sensorTimer.reset(); //reset the timer
Reckstyle 9:718987b106a8 140 double freq,period = 0.0;
Reckstyle 0:5ca0450111f3 141 int n =0; //number of samples
Reckstyle 9:718987b106a8 142 int sensor_old = 0; //variable to remember old sensor state
Reckstyle 9:718987b106a8 143 int sensor_new = 0;
Reckstyle 9:718987b106a8 144 //double time_1 = sensorTimer.read(); used for debugging
Reckstyle 0:5ca0450111f3 145 while (n < NUMBER_SAMPLES){
Reckstyle 16:3649eb1a056d 146 sensor_new = sensor->pin->read();
Reckstyle 9:718987b106a8 147 if ( sensor_new== 1 && sensor_old == 0){ // detect on rising edge
Reckstyle 0:5ca0450111f3 148 n++;
Reckstyle 0:5ca0450111f3 149 }
Reckstyle 9:718987b106a8 150 sensor_old = sensor_new;
Reckstyle 0:5ca0450111f3 151 }
Reckstyle 9:718987b106a8 152 double time_2 = sensorTimer.read();
Reckstyle 9:718987b106a8 153 // pc.printf(" delta time is %f , time 2 is %f " , (time_2 - time_1), time_2); //Used for debugging
Reckstyle 9:718987b106a8 154
Reckstyle 9:718987b106a8 155 period = time_2/((double)NUMBER_SAMPLES); // Get time
Reckstyle 9:718987b106a8 156 freq = (1/period); // Convert period (in us) to frequency (Hz).
Reckstyle 16:3649eb1a056d 157 //pc.printf(" period is %f and freq is %f ", period,freq); // Used for debugging
Reckstyle 16:3649eb1a056d 158
Reckstyle 37:3d14df6dec34 159 sensor->state = freq;
Reckstyle 37:3d14df6dec34 160 return 0;
Reckstyle 0:5ca0450111f3 161
Reckstyle 16:3649eb1a056d 162 // if (sensor->grayValue != 0 && freq < (sensor->grayValue + 1000) && freq > (sensor.grayValue - 1000)) { //definitely not sure about that!
Reckstyle 16:3649eb1a056d 163 // //this is a gray value sensor in its gray region
Reckstyle 16:3649eb1a056d 164 // sensor->state = 2;
Reckstyle 16:3649eb1a056d 165 // return 2;
Reckstyle 16:3649eb1a056d 166 // }
Reckstyle 37:3d14df6dec34 167 // if (freq < (sensor->blackValue)){
Reckstyle 37:3d14df6dec34 168 // sensor->state = 0; //if it's less than black value it is black
Reckstyle 37:3d14df6dec34 169 // return 0;
Reckstyle 37:3d14df6dec34 170 // }
Reckstyle 37:3d14df6dec34 171 // else {
Reckstyle 37:3d14df6dec34 172 // sensor->state = 1;
Reckstyle 37:3d14df6dec34 173 // }
Reckstyle 37:3d14df6dec34 174 // return 1;
Reckstyle 16:3649eb1a056d 175 //(freq < sensor->black_value*2)? 1 : 0; //freq
Reckstyle 0:5ca0450111f3 176 }
Reckstyle 0:5ca0450111f3 177 #endif