Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/sensors.h@27:7eb032772bc2, 2016-01-31 (annotated)

Committer:
alanmillard
Date:
Sun Jan 31 15:14:54 2016 +0000
Revision:
27:7eb032772bc2
Parent:
6:ff3c66f7372b 
Flocking seems to work better now, however the robot controller sometimes "crashes" (unsure why).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: sensors.h
jah128 0:8a5497a2e366 4 *
jah128 6:ff3c66f7372b 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 6:ff3c66f7372b 6 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 0:8a5497a2e366 7 *
jah128 6:ff3c66f7372b 8 * PsiSwarm Library Version: 0.3
jah128 6:ff3c66f7372b 9 *
jah128 6:ff3c66f7372b 10 * October 2015
jah128 0:8a5497a2e366 11 *
jah128 0:8a5497a2e366 12 */
jah128 0:8a5497a2e366 13
jah128 0:8a5497a2e366 14 #ifndef SENSORS_H
jah128 0:8a5497a2e366 15 #define SENSORS_H
jah128 0:8a5497a2e366 16
jah128 0:8a5497a2e366 17 float get_battery_voltage ( void );
jah128 0:8a5497a2e366 18 float get_current ( void );
jah128 0:8a5497a2e366 19 float get_dc_voltage ( void );
jah128 0:8a5497a2e366 20
jah128 0:8a5497a2e366 21 float get_temperature ( void );
jah128 0:8a5497a2e366 22 void enable_ultrasonic_ticker( void );
jah128 0:8a5497a2e366 23 void disable_ultrasonic_ticker( void );
jah128 0:8a5497a2e366 24 void update_ultrasonic_measure ( void );
jah128 0:8a5497a2e366 25 void IF_read_ultrasonic_measure ( void );
jah128 0:8a5497a2e366 26 float read_reflected_ir_distance ( char index );
jah128 0:8a5497a2e366 27 float get_reflected_ir_distance ( char index );
jah128 0:8a5497a2e366 28 unsigned short get_background_raw_ir_value ( char index );
jah128 0:8a5497a2e366 29 unsigned short get_illuminated_raw_ir_value ( char index );
jah128 0:8a5497a2e366 30 void store_reflected_ir_distances ( void );
jah128 0:8a5497a2e366 31 void store_background_raw_ir_values ( void );
jah128 0:8a5497a2e366 32 void store_illuminated_raw_ir_values ( void );
jah128 0:8a5497a2e366 33 float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value );
jah128 0:8a5497a2e366 34 unsigned short read_illuminated_raw_ir_value ( char index ) ;
jah128 0:8a5497a2e366 35
jah128 0:8a5497a2e366 36 unsigned short get_background_base_ir_value ( char index );
jah128 0:8a5497a2e366 37 unsigned short get_illuminated_base_ir_value ( char index );
jah128 6:ff3c66f7372b 38
jah128 6:ff3c66f7372b 39 int get_bearing_from_ir_array ( unsigned short * ir_sensor_readings);
jah128 0:8a5497a2e366 40 void store_ir_values ( void );
jah128 0:8a5497a2e366 41 void store_base_ir_values ( void );
jah128 0:8a5497a2e366 42 void store_background_base_ir_values ( void );
jah128 0:8a5497a2e366 43 void store_illuminated_base_ir_values ( void );
jah128 0:8a5497a2e366 44
jah128 3:cd048f6e544e 45 void store_line_position ( void );
jah128 0:8a5497a2e366 46 void calibrate_base_ir_sensors ( void );
jah128 0:8a5497a2e366 47
jah128 0:8a5497a2e366 48 #endif