Gal Yaroslavsky / MicroMouse-v1

asdf

Dependencies:   L3GD20 LSM303DLHC mbed

Headers/Sensors.h@4:ecfe2115e9a4, 2014-04-03 (annotated)

Committer:
goy5022
Date:
Thu Apr 03 17:34:00 2014 +0000
Revision:
4:ecfe2115e9a4
Parent:
3:1a8a7cc709cc
Child:
5:9e504a5a1f48
pid works great and it's not messed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goy5022 0:c2ec30f28676 1 #ifndef SENSORS_H
goy5022 0:c2ec30f28676 2 #define SENSORS_H
goy5022 0:c2ec30f28676 3
goy5022 2:997f57aee3b7 4 //#include "Core.h"
goy5022 2:997f57aee3b7 5
goy5022 2:997f57aee3b7 6 #include "ExponentialAverage.h"
goy5022 0:c2ec30f28676 7 #include "L3GD20.h"
goy5022 0:c2ec30f28676 8 #include "LSM303DLHC.h"
goy5022 0:c2ec30f28676 9
goy5022 2:997f57aee3b7 10
goy5022 2:997f57aee3b7 11 float ax, ay, az;
goy5022 2:997f57aee3b7 12 float mx, my, mz;
goy5022 2:997f57aee3b7 13 float gx, gy, gz;
goy5022 2:997f57aee3b7 14
goy5022 0:c2ec30f28676 15 L3GD20 gyro(p9, p10);
goy5022 0:c2ec30f28676 16 LSM303DLHC compass(p9, p10);
goy5022 1:cfe6a6ad8dca 17 PwmOut ledF(p23);
goy5022 1:cfe6a6ad8dca 18 PwmOut ledR(p21);
goy5022 1:cfe6a6ad8dca 19 PwmOut ledL(p22);
goy5022 1:cfe6a6ad8dca 20 AnalogIn SenseR(p15);
goy5022 1:cfe6a6ad8dca 21 AnalogIn SenseL(p16);
goy5022 1:cfe6a6ad8dca 22 AnalogIn SenseF(p17);
goy5022 3:1a8a7cc709cc 23 bool wallfront = false;
goy5022 3:1a8a7cc709cc 24 bool wallright = false;
goy5022 3:1a8a7cc709cc 25 bool wallleft = false;
goy5022 4:ecfe2115e9a4 26 float cal_R =0, cal_L =0, cal_F =0;
goy5022 2:997f57aee3b7 27
goy5022 2:997f57aee3b7 28
goy5022 2:997f57aee3b7 29 bool wallFront()
goy5022 2:997f57aee3b7 30 {
goy5022 2:997f57aee3b7 31 return frontExpAvg.average() > .90;
goy5022 2:997f57aee3b7 32 }
goy5022 2:997f57aee3b7 33 bool wallLeft()
goy5022 1:cfe6a6ad8dca 34 {
goy5022 4:ecfe2115e9a4 35 return abs(log(1-SenseL.read())) < 5;
goy5022 1:cfe6a6ad8dca 36 }
goy5022 2:997f57aee3b7 37 bool wallRight()
goy5022 2:997f57aee3b7 38 {
goy5022 4:ecfe2115e9a4 39 return abs(log(1-SenseR.read())) < 5;
goy5022 2:997f57aee3b7 40 }
goy5022 4:ecfe2115e9a4 41 void check_walls()
goy5022 4:ecfe2115e9a4 42 {
goy5022 4:ecfe2115e9a4 43 wallLeft();
goy5022 4:ecfe2115e9a4 44 wallRight();
goy5022 4:ecfe2115e9a4 45 wallFront();
goy5022 4:ecfe2115e9a4 46
goy5022 4:ecfe2115e9a4 47 }
goy5022 0:c2ec30f28676 48 #endif