Diff: demo.cpp

Revision:

10:e58323951c08

Parent:

9:dde9e21030eb

Child:

11:312663037b8c

--- a/demo.cpp	Sun Oct 16 14:12:49 2016 +0000
+++ b/demo.cpp	Sun Oct 16 16:00:20 2016 +0000
@@ -712,40 +712,40 @@
                     strcpy(topline,"--SENSORS MENU--");
                     switch(sub_menu) {
                         case 0: {
-                            float battery = get_battery_voltage ();
+                            float battery = sensors.get_battery_voltage ();
                             sprintf(bottomline,"BATTERY: %1.3fV",battery);
                             break;
                         }
                         case 1: {
-                            float dc = get_dc_voltage ();
+                            float dc = sensors.get_dc_voltage ();
                             sprintf(bottomline,"DC: %1.3fV",dc);
                             break;
                         }
                         case 2: {
-                            float current = get_current ();
+                            float current = sensors.get_current ();
                             sprintf(bottomline,"CURRENT: %1.3fA",current);
                             break;
                         }
                         case 3: {
-                            float temperature = get_temperature();
+                            float temperature = sensors.get_temperature();
                             sprintf(bottomline,"TEMP: %3.2fC", temperature);
                             break;
                         }
                         case 4:
-                            store_background_base_ir_values();
-                            sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index));
+                            sensors.store_background_base_ir_values();
+                            sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,sensors.get_background_base_ir_value(base_ir_index));
                             break;
                         case 5:
-                            store_illuminated_base_ir_values();
-                            sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index));
+                            sensors.store_illuminated_base_ir_values();
+                            sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,sensors.get_illuminated_base_ir_value(base_ir_index));
                             break;
                         case 6:
-                            store_background_raw_ir_values();
-                            sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index));
+                            sensors.store_background_raw_ir_values();
+                            sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,sensors.get_background_raw_ir_value(side_ir_index));
                             break;
                         case 7:
-                            store_illuminated_raw_ir_values();
-                            sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index));
+                            sensors.store_illuminated_raw_ir_values();
+                            sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,sensors.get_illuminated_raw_ir_value(side_ir_index));
                             break;
                         case 8:
                             sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0);
@@ -754,10 +754,10 @@
                             if(ultrasonic_distance_updated == 1) {
                                 sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance);
                             } else sprintf(bottomline,"USONIC:---------");
-                            update_ultrasonic_measure();
+                            sensors.update_ultrasonic_measure();
                             break;
                         case 10:
-                            store_line_position();
+                            sensors.store_line_position();
                             if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position);
                             else sprintf(bottomline,"LINE:---------");
                             break;
@@ -941,7 +941,7 @@
 void line_demo_cycle()
 {
     if(demo_timer.read() > time_out) {
-        store_line_position();
+        sensors.store_line_position();
         if(line_found) {
             time_out = 0.01f;
             state = 0;
@@ -1317,9 +1317,9 @@
                 state = 1;
                 break;
             case 1: { //Motor is moving forward
-                store_ir_values();
-                int front_right = read_illuminated_raw_ir_value(0);
-                int front_left = read_illuminated_raw_ir_value(7);
+                sensors.store_ir_values();
+                int front_right = sensors.read_illuminated_raw_ir_value(0);
+                int front_left = sensors.read_illuminated_raw_ir_value(7);
                 if(front_left > 400 || front_right > 400) {
                     motors.brake();
                     time_out = 0.04;