hirromu takaki / _sensorGen

re:pub

Dependents:   200_yotsuba_21 200_yotuba_21_uiChange

sensorGen.h@9:9b1381c4ad90, 2021-03-07 (annotated)

Committer:
THtakahiro702286
Date:
Sun Mar 07 12:24:01 2021 +0000
Revision:
9:9b1381c4ad90
Parent:
8:e11be46f5480 
victory!!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piroro4560 0:03658c55ab2e 1 #ifndef SENSORGEN_H
piroro4560 0:03658c55ab2e 2 #define SENSORGEN_H
piroro4560 0:03658c55ab2e 3
piroro4560 0:03658c55ab2e 4 #include "camera.h"
piroro4560 0:03658c55ab2e 5 #include "line.h"
piroro4560 0:03658c55ab2e 6 #include "jy901.h"
piroro4560 4:f651e59a9805 7 #include "main.h"
THtakahiro702286 8:e11be46f5480 8 #include "IRsensor.h"
THtakahiro702286 8:e11be46f5480 9
THtakahiro702286 6:fc6e4c814d3f 10 #define CAMCENTERX 165
THtakahiro702286 6:fc6e4c814d3f 11 #define CAMCENTERY 115
THtakahiro702286 5:8ed76df0196b 12
piroro4560 4:f651e59a9805 13 class sensorgen
piroro4560 4:f651e59a9805 14 {
piroro4560 0:03658c55ab2e 15 public :
piroro4560 4:f651e59a9805 16 sensorgen();
piroro4560 0:03658c55ab2e 17
piroro4560 0:03658c55ab2e 18 void sensorloop();
piroro4560 0:03658c55ab2e 19
piroro4560 0:03658c55ab2e 20 // float jy901();
piroro4560 0:03658c55ab2e 21
piroro4560 0:03658c55ab2e 22 // float hcsr04();
piroro4560 0:03658c55ab2e 23
piroro4560 0:03658c55ab2e 24 // float camera();
piroro4560 0:03658c55ab2e 25
piroro4560 4:f651e59a9805 26 int line[6];
piroro4560 0:03658c55ab2e 27 float angle;
piroro4560 0:03658c55ab2e 28 float angleLimit;
piroro4560 0:03658c55ab2e 29 float ballAngle;
piroro4560 0:03658c55ab2e 30 float ballRange;
piroro4560 4:f651e59a9805 31 bool ballKeep;
piroro4560 0:03658c55ab2e 32 float blueAngle;
piroro4560 0:03658c55ab2e 33 float blueRange;
piroro4560 0:03658c55ab2e 34 float yellowAngle;
piroro4560 0:03658c55ab2e 35 float yellowRange;
piroro4560 4:f651e59a9805 36 bool ballSig, blueSig, yellowSig;
piroro4560 0:03658c55ab2e 37 //private:
piroro4560 0:03658c55ab2e 38 Thread thread;
piroro4560 4:f651e59a9805 39 Line *_line[6];
piroro4560 4:f651e59a9805 40 Cam camera;
piroro4560 4:f651e59a9805 41 JY901 jy;
piroro4560 4:f651e59a9805 42 Timer ballTimeout;
piroro4560 4:f651e59a9805 43 Timer blueTimeout;
THtakahiro702286 8:e11be46f5480 44 IRsensor ir;
piroro4560 4:f651e59a9805 45 Timer yellowTimeout;
THtakahiro702286 8:e11be46f5480 46 DigitalIn b0;
THtakahiro702286 8:e11be46f5480 47 DigitalIn test,team,start;
piroro4560 4:f651e59a9805 48 bool ballTimeoutState,blueTimeoutState,yellowTimeoutState;
piroro4560 4:f651e59a9805 49 int angleCount;
piroro4560 4:f651e59a9805 50 int ballx,bally,bluex,bluey,yellowx,yellowy;
THtakahiro702286 8:e11be46f5480 51 float tempAngle,rawAngle,irVal;
piroro4560 4:f651e59a9805 52 int ballkeepcount,ballcount,yellowcount,bluecount;
THtakahiro702286 8:e11be46f5480 53 // bool b[4],b1[4],flag[4];
piroro4560 0:03658c55ab2e 54 };
piroro4560 0:03658c55ab2e 55
piroro4560 0:03658c55ab2e 56 #endif