Diff: piswarm.h

Revision:

9:7a4fc1d7e484

Parent:

6:69a48b1ec3af

Child:

10:5c111c07a2ed

--- a/piswarm.h	Mon Feb 03 12:59:51 2014 +0000
+++ b/piswarm.h	Tue Feb 18 17:14:03 2014 +0000
@@ -4,7 +4,11 @@
  *
  * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
  * 
- * Version 0.5  February 2014
+ * Version 0.6  February 2014
+ *
+ * Change notes:
+ * 0.6  :  Added new IR sensor functions to improve efficiency (see manual for details)
+ * 0.5  :  Initial release
  *
  * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
  *
@@ -140,6 +144,34 @@
     // Returns an approximate distance of any reflected obstacle in front of the given IR sensor (in millimeters, range 0 - 100)
     float read_reflected_ir_distance ( char index );
     
+    // Returns the stored value of the reflected obstacle based on last call of either read_reflected_ir_distance or store_reflected_distances
+    // Introduced in API 0.6
+    float get_reflected_ir_distance ( char index );
+    
+    // Returns the stored value of the non-illuminated sensor based on last call of store_background_raw_ir_values
+    // Introduced in API 0.6
+    unsigned short get_background_raw_ir_value ( char index );
+    
+    // Returns the stored value of the illuminated sensor based on last call of store_illuminated_raw_ir_values
+    // Introduced in API 0.6
+    unsigned short get_illuminated_raw_ir_value ( char index );
+  
+    // Stores the reflected distances for all 8 IR sensors
+    // Introduced in API 0.6
+    void store_reflected_ir_distances ( void );
+    
+    // Stores the raw ADC values for all 8 IR sensors without enabling IR emitters
+    // Introduced in API 0.6
+    void store_background_raw_ir_values ( void );
+    
+    // Stores the raw ADC values for all 8 IR sensors with a 500us emitter pulse
+    // Introduced in API 0.6
+    void store_illuminated_raw_ir_values ( void );
+    
+    // Converts a background and illuminated value into a distance
+    // Introduced in API 0.6 - used by read_reflected_ir_distance and store_reflected_ir_distances
+    float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value );
+    
     // Returns the illuminated raw ADC value for a given IR sensor (500us pulse)
     unsigned short read_illuminated_raw_ir_value ( char index );
     
@@ -313,7 +345,7 @@
     
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  
     // Native m3Pi Functions
-    // These should preserve functionality of (most) m3pi code but may be fully functional on Pi Swarm
+    // These should preserve functionality of (most) m3pi code but may not be fully functional on Pi Swarm
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
     // Force a hardware reset of the 3-pi