Diff: m3pi.h

Revision:

2:26bf14f4dc84

Parent:

1:5523d6d1feec

Child:

3:5015bc2d1cf8

--- a/m3pi.h	Wed Apr 05 10:25:42 2017 +0000
+++ b/m3pi.h	Fri Apr 07 18:22:35 2017 +0000
@@ -73,19 +73,12 @@
     */
     void reset_calibration();
 
-    /** Returns estimate of line position
-    * @returns int in the range -2000 to 2000
-    * @details -2000 for line under sensor 0, -1000 for line under sensor 1
-    * @details 0 for line under sensor 2, 1000 for line under sensor 3 etc.
-    */
-    int get_line_position();
-
     /** Returns estimate of normalised line position
     * @returns float in the range -1.0 to 1.0
     * @details -1.0 for line under sensor 0, -0.5 for line under sensor 1
     * @details 0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
     */
-    float get_normalised_line_position();
+    float get_line_position();
 
     /** Clear LCD
     */
@@ -163,6 +156,25 @@
     * @param y - line on LCD to display
     */
     void display_signature(int x,int y);
+    
+    /** Display sensor values on LCD
+    * @param values - array of calibrated sensor values
+    * @param y - line on LCD to display
+    */
+    void display_sensor_values(unsigned int values[],int y);
+    
+    /** Gets value of sensor array expressed as decimal number
+    * @details Each sensor is a bit (PC4 is bit 0, PC0 is bit 5)
+    * @returns value - 5-bit value of sensor reading
+    */
+    unsigned int get_sensor_array_value(unsigned int values[]);
+    
+    /** Calculates an estimate of normalised line position from the sensor readings
+    * @returns float in the range -1.0 to 1.0
+    * @details -1.0 for line under sensor 0, -0.5 for line under sensor 1
+    * @details 0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
+    */
+    float calc_line_position(unsigned int values[]);
 
 private:
 
@@ -170,6 +182,8 @@
     DigitalOut* _reset;
     DigitalIn* _button;
     BusOut* _leds;
+    
+    float _last_line_position;
 
     void reset();