Diff: Headers/Sensors.h

Revision:

6:6e96e93689df

Parent:

5:9e504a5a1f48

--- a/Headers/Sensors.h	Thu Apr 03 18:47:30 2014 +0000
+++ b/Headers/Sensors.h	Thu Apr 03 19:21:58 2014 +0000
@@ -24,6 +24,7 @@
 bool wallright = false;
 bool wallleft = false;
 float cal_R =0, cal_L =0, cal_F =0;
+Timer t;
 
 float linearize(float sensor)
 {
@@ -47,7 +48,39 @@
 {
   wallLeft();
   wallRight();
-  wallFront();  
-    
+  wallFront();      
 }
+
+void initSensors()
+{
+    for(int i = 0; i < 100; i++)
+    {
+        float l = SenseL.read();
+        float r = SenseR.read();
+        float f = SenseF.read();
+        
+        /*
+        leftWeightedAvg.add(l);
+        rightWeightedAvg.add(r);
+        frontWeightedAvg.add(f);
+        
+
+        leftExpAvg.add(l);
+        frontExpAvg.add(f);
+        */
+        leftExpAvg.add(l);
+        rightExpAvg.add(r);
+        frontExpAvg.add(f);
+        //leftBufferAvg.add(l);
+        //rightBufferAvg.add(r);
+        //frontBufferAvg.add(f);
+        
+        //WIRELESS.printf("%i || F: %f \n\r", i, frontExpAvg.average());
+    }
+        cal_R = abs(log(1-rightExpAvg.average()));
+        cal_L = abs(log(1-leftExpAvg.average()));
+        //cal_F = abs(log(1-frontExpAvg.average()));
+        //float avgRight = rightExpAvg.average();
+}
+
 #endif
\ No newline at end of file