hirromu takaki / _sensorGen

re:pub

Dependents:   200_yotsuba_21 200_yotuba_21_uiChange

sensorGen.h@6:fc6e4c814d3f, 2021-03-05 (annotated)

Committer:
THtakahiro702286
Date:
Fri Mar 05 06:30:54 2021 +0000
Revision:
6:fc6e4c814d3f
Parent:
5:8ed76df0196b
Child:
7:a0cf2b2ca433
Child:
8:e11be46f5480
mawarikometa

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