Revision 9:074ce6197b51, committed 2018-03-19

Comitter:

eencae

Date:

Mon Mar 19 13:06:40 2018 +0000

Parent:

8:92167bd3eb44

Commit message:

Added some simple functions to the library that do not require arrays to be passed by reference. Sensor values are stored in the class instead.

Changed in this revision

--- a/m3pi.cpp	Wed Jul 05 14:39:33 2017 +0000
+++ b/m3pi.cpp	Mon Mar 19 13:06:40 2018 +0000
@@ -9,10 +9,14 @@
     _reset = new DigitalOut(p8);
     _last_line_position = 0.0;
     
+    // initialise the arrays
     _bar_graph[0] = ' ';
     for (int i = 0; i < 6; i++) {
         _bar_graph[i+1] = i;    
     }
+    for (int i = 0; i < 5; i++) {
+       _values[i]=0;  
+    }
 }
 
 m3pi::~m3pi()
@@ -34,6 +38,10 @@
 
 /////////////////////////////// serial slave commands ////////////////////////////////
 
+void m3pi::scan() 
+{
+    get_calibrated_values(_values);
+}
 
 void m3pi::get_signature(char *signature)
 {
@@ -112,7 +120,6 @@
     }
 }
 
-
 void m3pi::calibrate()
 {
     _serial->putc(0xB4);
@@ -302,6 +309,17 @@
 
 }
 
+void m3pi::display_data() 
+{
+    display_sensor_values(_values,1);   
+    
+    char buffer[8]={0};
+    sprintf(buffer,"% .3f",_last_line_position);
+    lcd_goto_xy(0,0);
+    lcd_print(buffer,6); 
+       
+}
+
 unsigned int m3pi::get_sensor_array_value(unsigned int values[])
 {
     unsigned int value = 0;
@@ -350,6 +368,11 @@
     return _last_line_position;
 }
 
+float m3pi::read_line() {
+    return calc_line_position(_values); 
+}
+
+
 /////////////////////////////// private methods ////////////////////////////////
 
 void m3pi::reset()

--- a/m3pi.h	Wed Jul 05 14:39:33 2017 +0000
+++ b/m3pi.h	Mon Mar 19 13:06:40 2018 +0000
@@ -28,6 +28,11 @@
     * @details code and start 3pi in serial slave mode
     */
     void init();
+    
+    /** Causes the robot to read the IR sensors
+    * @details is an alterative to get_*_values methods if you don't need the values themselves
+    */
+    void scan();
 
     /** Get signature of slave firmware
     * @param signature - array of size 7 to store signature
@@ -75,6 +80,14 @@
     * @details 0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
     */
     float get_line_position();
+    
+    /** Returns an estimate of the normalised line position
+    * @returns float in the range -1.0 to 1.0
+    * @details uses the values of sensor stored in the class - must call scan() first!
+    * @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 read_line(); 
 
     /** Clear LCD
     */
@@ -148,6 +161,11 @@
     */
     void display_signature(int x,int y);
     
+    /** Display line position and bar graph of sensor readings on LCD
+    * @details must call scan() and read_line() first
+    */
+    void display_data();
+    
     /** Display sensor values on LCD
     * @param values - array of calibrated sensor values
     * @param y - line on LCD to display
@@ -175,6 +193,7 @@
     float _last_line_position;
     
     char _bar_graph[7];
+    unsigned int _values[5];
 
     void reset();