Diff: Headers/Sensors.h

Revision:

2:997f57aee3b7

Parent:

1:cfe6a6ad8dca

Child:

3:1a8a7cc709cc

--- a/Headers/Sensors.h	Sat Mar 29 13:25:23 2014 +0000
+++ b/Headers/Sensors.h	Thu Apr 03 13:15:40 2014 +0000
@@ -1,10 +1,17 @@
 #ifndef SENSORS_H
 #define SENSORS_H
 
-#include "Core.h"
+//#include "Core.h"
+
+#include "ExponentialAverage.h"
 #include "L3GD20.h"
 #include "LSM303DLHC.h"
 
+
+float ax, ay, az;
+float mx, my, mz;
+float gx, gy, gz;
+
 L3GD20 gyro(p9, p10);
 LSM303DLHC compass(p9, p10);
 PwmOut ledF(p23);
@@ -14,18 +21,18 @@
 AnalogIn SenseL(p16);
 AnalogIn SenseF(p17);
 
-float alpha = 0.2f;
-float valL = 0.0;
-float valR = 0.0;
-float accL = 0;
-float accR = 0;
-        
-void collectSample()
+
+
+bool wallFront()
+{
+    return frontExpAvg.average() > .90;
+}
+bool wallLeft()
 {
-    valL = SenseL.read();
-    valR = SenseR.read();           
-    accL = (alpha * valL) + (1.0 - alpha) * accL;
-    accR = (alpha * valR) + (1.0 - alpha) * accR;
+    return SenseL.read() > .94;
 }
-
+bool wallRight()
+{
+    return SenseR.read() > .94;
+}
 #endif
\ No newline at end of file