Allison Olin / LineFollower

things

Dependencies:   Motor

Fork of LineFollower by Bill Bonner

LineFollower.cpp@0:2623af9e8ef3, 2014-02-18 (annotated)

Committer:
blu12758
Date:
Tue Feb 18 04:14:48 2014 +0000
Revision:
0:2623af9e8ef3
Child:
1:c319e24af8df
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
blu12758 0:2623af9e8ef3 1 #include "LineFollower.h"
blu12758 0:2623af9e8ef3 2 #include "mbed.h"
blu12758 0:2623af9e8ef3 3 #include <stdint.h>
blu12758 0:2623af9e8ef3 4
blu12758 0:2623af9e8ef3 5 /** Create a Line Follower interface for an IR Sensor Array
blu12758 0:2623af9e8ef3 6 *
blu12758 0:2623af9e8ef3 7 * @param ir1 IR Sensor 1
blu12758 0:2623af9e8ef3 8 * @param ir2 IR Sensor 2
blu12758 0:2623af9e8ef3 9 * @param ir3 IR Sensor 3
blu12758 0:2623af9e8ef3 10 * @param ir4 IR Sensor 4
blu12758 0:2623af9e8ef3 11 * @param ir5 IR Sensor 5
blu12758 0:2623af9e8ef3 12 * @param ir6 IR Sensor 6
blu12758 0:2623af9e8ef3 13 * @param ir7 IR Sensor 7
blu12758 0:2623af9e8ef3 14 * @param ir8 IR Sensor 8
blu12758 0:2623af9e8ef3 15 */
blu12758 0:2623af9e8ef3 16 LineFollower::Linefollower(DigitalIn ir1, DigitalIn ir2, DigitalIn ir3, DigitalIn ir4,
blu12758 0:2623af9e8ef3 17 DigitalIn ir5, DigitalIn ir6, DigitalIn ir7, DigitalIn ir8):
blu12758 0:2623af9e8ef3 18 _ir1(ir1), _ir2(ir2), _ir3(ir3), _ir4(ir4), _ir5(ir5), _ir6(ir6),
blu12758 0:2623af9e8ef3 19 _ir7(ir7), _ir8(ir8){
blu12758 0:2623af9e8ef3 20
blu12758 0:2623af9e8ef3 21 }
blu12758 0:2623af9e8ef3 22
blu12758 0:2623af9e8ef3 23
blu12758 0:2623af9e8ef3 24 /** Read the value of a LineFollower object
blu12758 0:2623af9e8ef3 25 *
blu12758 0:2623af9e8ef3 26 * @return The value of the Sensor
blu12758 0:2623af9e8ef3 27 */
blu12758 0:2623af9e8ef3 28 uint8_t LineFollower::read(){
blu12758 0:2623af9e8ef3 29 uint8_t binary = 0;
blu12758 0:2623af9e8ef3 30
blu12758 0:2623af9e8ef3 31 array[0] = _ir1;
blu12758 0:2623af9e8ef3 32 array[1] = _ir2;
blu12758 0:2623af9e8ef3 33 array[2] = _ir3;
blu12758 0:2623af9e8ef3 34 array[3] = _ir4;
blu12758 0:2623af9e8ef3 35 array[4] = _ir5;
blu12758 0:2623af9e8ef3 36 array[5] = _ir6;
blu12758 0:2623af9e8ef3 37 array[6] = _ir7;
blu12758 0:2623af9e8ef3 38 array[7] = _ir8;
blu12758 0:2623af9e8ef3 39
blu12758 0:2623af9e8ef3 40 for(int i=0; i<=8; i++){
blu12758 0:2623af9e8ef3 41 binary += array[i]
blu12758 0:2623af9e8ef3 42 }
blu12758 0:2623af9e8ef3 43
blu12758 0:2623af9e8ef3 44 }