Psi Swarm robot library version 0.9
Fork of PsiSwarmV8_CPP by
sensors.cpp@15:66be5ec52c3b, 2017-06-01 (annotated)
- Committer:
- jah128
- Date:
- Thu Jun 01 21:58:14 2017 +0000
- Revision:
- 15:66be5ec52c3b
- Parent:
- 12:878c6e9d9e60
Added colour detection code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Source File |
jah128 | 6:b340a527add9 | 2 | * |
jah128 | 6:b340a527add9 | 3 | * Copyright 2016 University of York |
jah128 | 6:b340a527add9 | 4 | * |
jah128 | 6:b340a527add9 | 5 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. |
jah128 | 6:b340a527add9 | 6 | * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 |
jah128 | 6:b340a527add9 | 7 | * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS |
jah128 | 6:b340a527add9 | 8 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
jah128 | 6:b340a527add9 | 9 | * See the License for the specific language governing permissions and limitations under the License. |
jah128 | 1:060690a934a9 | 10 | * |
jah128 | 0:d6269d17c8cf | 11 | * File: sensors.cpp |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 14 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 15 | * |
jah128 | 12:878c6e9d9e60 | 16 | * PsiSwarm Library Version: 0.8 |
jah128 | 0:d6269d17c8cf | 17 | * |
jah128 | 5:3cdd1a37cdd7 | 18 | * October 2016 |
jah128 | 0:d6269d17c8cf | 19 | * |
jah128 | 0:d6269d17c8cf | 20 | * |
jah128 | 0:d6269d17c8cf | 21 | */ |
jah128 | 0:d6269d17c8cf | 22 | |
jah128 | 0:d6269d17c8cf | 23 | #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 24 | |
jah128 | 0:d6269d17c8cf | 25 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 26 | // Ultrasonic Sensor (SRF02) Functions |
jah128 | 0:d6269d17c8cf | 27 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 28 | |
jah128 | 0:d6269d17c8cf | 29 | // The ultrasonic sensor needs a start command to be sent: this is done by calling update_ultrasonic_measure(). |
jah128 | 0:d6269d17c8cf | 30 | // It can be set to automatically refresh at 10Hz by called enable_ultrasonic_ticker and disable with disabled_ultrasonic_ticker |
jah128 | 0:d6269d17c8cf | 31 | |
jah128 | 10:e58323951c08 | 32 | void Sensors::enable_ultrasonic_ticker() |
jah128 | 1:060690a934a9 | 33 | { |
jah128 | 10:e58323951c08 | 34 | ultrasonic_ticker.attach_us(this,&Sensors::update_ultrasonic_measure,100000); |
jah128 | 0:d6269d17c8cf | 35 | } |
jah128 | 0:d6269d17c8cf | 36 | |
jah128 | 10:e58323951c08 | 37 | void Sensors::disable_ultrasonic_ticker() |
jah128 | 1:060690a934a9 | 38 | { |
jah128 | 1:060690a934a9 | 39 | ultrasonic_ticker.detach(); |
jah128 | 0:d6269d17c8cf | 40 | } |
jah128 | 0:d6269d17c8cf | 41 | |
jah128 | 10:e58323951c08 | 42 | void Sensors::update_ultrasonic_measure() |
jah128 | 1:060690a934a9 | 43 | { |
jah128 | 1:060690a934a9 | 44 | if(waiting_for_ultrasonic == 0) { |
jah128 | 0:d6269d17c8cf | 45 | waiting_for_ultrasonic = 1; |
jah128 | 1:060690a934a9 | 46 | if(has_ultrasonic_sensor) { |
jah128 | 1:060690a934a9 | 47 | char command[2]; |
jah128 | 1:060690a934a9 | 48 | command[0] = 0x00; // Set the command register |
jah128 | 0:d6269d17c8cf | 49 | command[1] = 0x51; // Get result is centimeters |
jah128 | 1:060690a934a9 | 50 | primary_i2c.write(ULTRASONIC_ADDRESS, command, 2); // Send the command to start a ranging burst |
jah128 | 1:060690a934a9 | 51 | } |
jah128 | 10:e58323951c08 | 52 | ultrasonic_timeout.attach_us(this,&Sensors::IF_read_ultrasonic_measure,70000); |
jah128 | 1:060690a934a9 | 53 | } else { |
jah128 | 12:878c6e9d9e60 | 54 | psi.debug("WARNING: Ultrasonic sensor called too frequently.\n"); |
jah128 | 0:d6269d17c8cf | 55 | } |
jah128 | 0:d6269d17c8cf | 56 | } |
jah128 | 0:d6269d17c8cf | 57 | |
jah128 | 10:e58323951c08 | 58 | void Sensors::IF_read_ultrasonic_measure() |
jah128 | 1:060690a934a9 | 59 | { |
jah128 | 1:060690a934a9 | 60 | if(has_ultrasonic_sensor) { |
jah128 | 1:060690a934a9 | 61 | char command[1]; |
jah128 | 1:060690a934a9 | 62 | char result[2]; |
jah128 | 1:060690a934a9 | 63 | command[0] = 0x02; // The start address of measure result |
jah128 | 1:060690a934a9 | 64 | primary_i2c.write(ULTRASONIC_ADDRESS, command, 1, 1); // Send address to read a measure |
jah128 | 1:060690a934a9 | 65 | primary_i2c.read(ULTRASONIC_ADDRESS, result, 2); // Read two byte of measure |
jah128 | 1:060690a934a9 | 66 | ultrasonic_distance = (result[0]<<8)+result[1]; |
jah128 | 1:060690a934a9 | 67 | } else ultrasonic_distance = 0; |
jah128 | 0:d6269d17c8cf | 68 | ultrasonic_distance_updated = 1; |
jah128 | 0:d6269d17c8cf | 69 | waiting_for_ultrasonic = 0; |
jah128 | 12:878c6e9d9e60 | 70 | //psi.debug("US:%d cm\n",ultrasonic_distance); |
jah128 | 0:d6269d17c8cf | 71 | } |
jah128 | 0:d6269d17c8cf | 72 | |
jah128 | 0:d6269d17c8cf | 73 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 74 | // Additional Sensing Functions |
jah128 | 0:d6269d17c8cf | 75 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 76 | |
jah128 | 10:e58323951c08 | 77 | float Sensors::get_temperature() |
jah128 | 1:060690a934a9 | 78 | { |
jah128 | 11:312663037b8c | 79 | if(has_temperature_sensor)return i2c_setup.IF_read_from_temperature_sensor(); |
jah128 | 1:060690a934a9 | 80 | return 0; |
jah128 | 0:d6269d17c8cf | 81 | } |
jah128 | 0:d6269d17c8cf | 82 | |
jah128 | 0:d6269d17c8cf | 83 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 84 | // Voltage Sensing Functions |
jah128 | 0:d6269d17c8cf | 85 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 86 | |
jah128 | 10:e58323951c08 | 87 | float Sensors::get_battery_voltage () |
jah128 | 1:060690a934a9 | 88 | { |
jah128 | 0:d6269d17c8cf | 89 | float raw_value = vin_battery.read(); |
jah128 | 0:d6269d17c8cf | 90 | return raw_value * 4.95; |
jah128 | 0:d6269d17c8cf | 91 | } |
jah128 | 0:d6269d17c8cf | 92 | |
jah128 | 10:e58323951c08 | 93 | float Sensors::get_current () |
jah128 | 1:060690a934a9 | 94 | { |
jah128 | 0:d6269d17c8cf | 95 | // Device uses a INA211 current sense monitor measuring voltage drop across a 2mOhm resistor |
jah128 | 0:d6269d17c8cf | 96 | // Device gain = 500 |
jah128 | 0:d6269d17c8cf | 97 | float raw_value = vin_current.read(); |
jah128 | 0:d6269d17c8cf | 98 | return raw_value * 3.3; |
jah128 | 0:d6269d17c8cf | 99 | } |
jah128 | 0:d6269d17c8cf | 100 | |
jah128 | 10:e58323951c08 | 101 | float Sensors::get_dc_voltage () |
jah128 | 1:060690a934a9 | 102 | { |
jah128 | 0:d6269d17c8cf | 103 | float raw_value = vin_dc.read(); |
jah128 | 1:060690a934a9 | 104 | return raw_value * 6.6; |
jah128 | 0:d6269d17c8cf | 105 | } |
jah128 | 0:d6269d17c8cf | 106 | |
jah128 | 0:d6269d17c8cf | 107 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 108 | // IR Sensor Functions |
jah128 | 0:d6269d17c8cf | 109 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 110 | |
jah128 | 1:060690a934a9 | 111 | // Estimates the distance to an obstacle from one of the IR sensors, defined by index (range 0-7). |
jah128 | 0:d6269d17c8cf | 112 | // The value is converted to an approximate distance in millimetres, or 100.0 if no obstacle found. |
jah128 | 0:d6269d17c8cf | 113 | // NB This function is preserved for code-compatability and cases where only a single reading is needed |
jah128 | 0:d6269d17c8cf | 114 | // In many cases it is preferable to call store_reflected_ir_distances() to save all 8 values then read using get_reflected_ir_distance() |
jah128 | 10:e58323951c08 | 115 | float Sensors::read_reflected_ir_distance ( char index ) |
jah128 | 1:060690a934a9 | 116 | { |
jah128 | 0:d6269d17c8cf | 117 | // Sanity check |
jah128 | 0:d6269d17c8cf | 118 | if(index>7) return 0.0; |
jah128 | 1:060690a934a9 | 119 | |
jah128 | 0:d6269d17c8cf | 120 | //1. Read the ADC value without IR emitter on; store in the background_ir_values[] array |
jah128 | 11:312663037b8c | 121 | background_ir_values [index] = i2c_setup.IF_read_IR_adc_value(1, index ); |
jah128 | 1:060690a934a9 | 122 | |
jah128 | 0:d6269d17c8cf | 123 | //2. Enable the relevant IR emitter by turning on its pulse output |
jah128 | 1:060690a934a9 | 124 | switch(index) { |
jah128 | 1:060690a934a9 | 125 | case 0: |
jah128 | 1:060690a934a9 | 126 | case 1: |
jah128 | 1:060690a934a9 | 127 | case 6: |
jah128 | 1:060690a934a9 | 128 | case 7: |
jah128 | 11:312663037b8c | 129 | i2c_setup.IF_set_IR_emitter_output(0, 1); |
jah128 | 1:060690a934a9 | 130 | break; |
jah128 | 1:060690a934a9 | 131 | case 2: |
jah128 | 1:060690a934a9 | 132 | case 3: |
jah128 | 1:060690a934a9 | 133 | case 4: |
jah128 | 1:060690a934a9 | 134 | case 5: |
jah128 | 11:312663037b8c | 135 | i2c_setup.IF_set_IR_emitter_output(1, 1); |
jah128 | 1:060690a934a9 | 136 | break; |
jah128 | 0:d6269d17c8cf | 137 | } |
jah128 | 1:060690a934a9 | 138 | wait_us(ir_pulse_delay); |
jah128 | 1:060690a934a9 | 139 | |
jah128 | 0:d6269d17c8cf | 140 | //3. Read the ADC value now IR emitter is on; store in the illuminated_ir_values[] array |
jah128 | 11:312663037b8c | 141 | illuminated_ir_values [index] = i2c_setup.IF_read_IR_adc_value (1, index ); |
jah128 | 1:060690a934a9 | 142 | |
jah128 | 0:d6269d17c8cf | 143 | //4. Turn off IR emitter |
jah128 | 1:060690a934a9 | 144 | switch(index) { |
jah128 | 1:060690a934a9 | 145 | case 0: |
jah128 | 1:060690a934a9 | 146 | case 1: |
jah128 | 1:060690a934a9 | 147 | case 6: |
jah128 | 1:060690a934a9 | 148 | case 7: |
jah128 | 11:312663037b8c | 149 | i2c_setup.IF_set_IR_emitter_output(0, 0); |
jah128 | 1:060690a934a9 | 150 | break; |
jah128 | 1:060690a934a9 | 151 | case 2: |
jah128 | 1:060690a934a9 | 152 | case 3: |
jah128 | 1:060690a934a9 | 153 | case 4: |
jah128 | 1:060690a934a9 | 154 | case 5: |
jah128 | 11:312663037b8c | 155 | i2c_setup.IF_set_IR_emitter_output(1, 0); |
jah128 | 1:060690a934a9 | 156 | break; |
jah128 | 0:d6269d17c8cf | 157 | } |
jah128 | 1:060690a934a9 | 158 | |
jah128 | 0:d6269d17c8cf | 159 | //5. Estimate distance based on 2 values using calculate_reflected_distances(); store in reflected_ir_distances() |
jah128 | 0:d6269d17c8cf | 160 | reflected_ir_distances [index] = calculate_reflected_distance( background_ir_values [index], illuminated_ir_values [index]); |
jah128 | 0:d6269d17c8cf | 161 | ir_values_stored = 1; |
jah128 | 0:d6269d17c8cf | 162 | return reflected_ir_distances [index]; |
jah128 | 0:d6269d17c8cf | 163 | } |
jah128 | 0:d6269d17c8cf | 164 | |
jah128 | 0:d6269d17c8cf | 165 | |
jah128 | 0:d6269d17c8cf | 166 | // Returns the stored value of the reflected obstacle based on last call of either read_reflected_ir_distance or store_reflected_distances |
jah128 | 10:e58323951c08 | 167 | float Sensors::get_reflected_ir_distance ( char index ) |
jah128 | 1:060690a934a9 | 168 | { |
jah128 | 0:d6269d17c8cf | 169 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 170 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 1:060690a934a9 | 171 | return reflected_ir_distances[index]; |
jah128 | 0:d6269d17c8cf | 172 | } |
jah128 | 0:d6269d17c8cf | 173 | |
jah128 | 0:d6269d17c8cf | 174 | // Returns the stored value of the non-illuminated sensor based on last call of store_background_raw_ir_values |
jah128 | 10:e58323951c08 | 175 | unsigned short Sensors::get_background_raw_ir_value ( char index ) |
jah128 | 1:060690a934a9 | 176 | { |
jah128 | 0:d6269d17c8cf | 177 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 178 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 1:060690a934a9 | 179 | return background_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 180 | } |
jah128 | 1:060690a934a9 | 181 | |
jah128 | 1:060690a934a9 | 182 | // Returns the stored value of the illuminated sensor based on last call of store_illuminated_raw_ir_values |
jah128 | 10:e58323951c08 | 183 | unsigned short Sensors::get_illuminated_raw_ir_value ( char index ) |
jah128 | 1:060690a934a9 | 184 | { |
jah128 | 1:060690a934a9 | 185 | // Sanity check: check range of index and that values have been stored |
jah128 | 1:060690a934a9 | 186 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 1:060690a934a9 | 187 | return illuminated_ir_values[index]; |
jah128 | 1:060690a934a9 | 188 | } |
jah128 | 1:060690a934a9 | 189 | |
jah128 | 0:d6269d17c8cf | 190 | // Stores the reflected distances for all 8 IR sensors |
jah128 | 10:e58323951c08 | 191 | void Sensors::store_reflected_ir_distances ( void ) |
jah128 | 1:060690a934a9 | 192 | { |
jah128 | 0:d6269d17c8cf | 193 | store_ir_values(); |
jah128 | 1:060690a934a9 | 194 | for(int i=0; i<8; i++) { |
jah128 | 1:060690a934a9 | 195 | reflected_ir_distances [i] = calculate_reflected_distance( background_ir_values [i], illuminated_ir_values [i]); |
jah128 | 1:060690a934a9 | 196 | } |
jah128 | 0:d6269d17c8cf | 197 | } |
jah128 | 0:d6269d17c8cf | 198 | |
jah128 | 10:e58323951c08 | 199 | // Stores the background and illuminated values for all 8 IR sensors |
jah128 | 10:e58323951c08 | 200 | void Sensors::store_ir_values ( void ) |
jah128 | 1:060690a934a9 | 201 | { |
jah128 | 0:d6269d17c8cf | 202 | store_background_raw_ir_values(); |
jah128 | 0:d6269d17c8cf | 203 | store_illuminated_raw_ir_values(); |
jah128 | 0:d6269d17c8cf | 204 | } |
jah128 | 1:060690a934a9 | 205 | |
jah128 | 0:d6269d17c8cf | 206 | // Stores the raw ADC values for all 8 IR sensors without enabling IR emitters |
jah128 | 10:e58323951c08 | 207 | void Sensors::store_background_raw_ir_values ( void ) |
jah128 | 1:060690a934a9 | 208 | { |
jah128 | 0:d6269d17c8cf | 209 | ir_values_stored = 1; |
jah128 | 1:060690a934a9 | 210 | for(int i=0; i<8; i++) { |
jah128 | 11:312663037b8c | 211 | background_ir_values [i] = i2c_setup.IF_read_IR_adc_value(1,i); |
jah128 | 0:d6269d17c8cf | 212 | } |
jah128 | 0:d6269d17c8cf | 213 | } |
jah128 | 1:060690a934a9 | 214 | |
jah128 | 0:d6269d17c8cf | 215 | // Stores the raw ADC values for all 8 IR sensors with a 500us emitter pulse |
jah128 | 10:e58323951c08 | 216 | void Sensors::store_illuminated_raw_ir_values ( void ) |
jah128 | 1:060690a934a9 | 217 | { |
jah128 | 1:060690a934a9 | 218 | //1. Enable the front IR emitters and store the values |
jah128 | 11:312663037b8c | 219 | i2c_setup.IF_set_IR_emitter_output(0, 1); |
jah128 | 1:060690a934a9 | 220 | wait_us(ir_pulse_delay); |
jah128 | 11:312663037b8c | 221 | illuminated_ir_values [0] = i2c_setup.IF_read_IR_adc_value(1,0); |
jah128 | 11:312663037b8c | 222 | illuminated_ir_values [1] = i2c_setup.IF_read_IR_adc_value(1,1); |
jah128 | 11:312663037b8c | 223 | illuminated_ir_values [6] = i2c_setup.IF_read_IR_adc_value(1,6); |
jah128 | 11:312663037b8c | 224 | illuminated_ir_values [7] = i2c_setup.IF_read_IR_adc_value(1,7); |
jah128 | 11:312663037b8c | 225 | i2c_setup.IF_set_IR_emitter_output(0, 0); |
jah128 | 1:060690a934a9 | 226 | |
jah128 | 1:060690a934a9 | 227 | //2. Enable the rear+side IR emitters and store the values |
jah128 | 11:312663037b8c | 228 | i2c_setup.IF_set_IR_emitter_output(1, 1); |
jah128 | 1:060690a934a9 | 229 | wait_us(ir_pulse_delay); |
jah128 | 11:312663037b8c | 230 | illuminated_ir_values [2] = i2c_setup.IF_read_IR_adc_value(1,2); |
jah128 | 11:312663037b8c | 231 | illuminated_ir_values [3] = i2c_setup.IF_read_IR_adc_value(1,3); |
jah128 | 11:312663037b8c | 232 | illuminated_ir_values [4] = i2c_setup.IF_read_IR_adc_value(1,4); |
jah128 | 11:312663037b8c | 233 | illuminated_ir_values [5] = i2c_setup.IF_read_IR_adc_value(1,5); |
jah128 | 11:312663037b8c | 234 | i2c_setup.IF_set_IR_emitter_output(1, 0); |
jah128 | 0:d6269d17c8cf | 235 | } |
jah128 | 1:060690a934a9 | 236 | |
jah128 | 0:d6269d17c8cf | 237 | // Converts a background and illuminated value into a distance |
jah128 | 10:e58323951c08 | 238 | float Sensors::calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value ) |
jah128 | 1:060690a934a9 | 239 | { |
jah128 | 0:d6269d17c8cf | 240 | float approximate_distance = 4000 + background_value - illuminated_value; |
jah128 | 0:d6269d17c8cf | 241 | if(approximate_distance < 0) approximate_distance = 0; |
jah128 | 1:060690a934a9 | 242 | |
jah128 | 0:d6269d17c8cf | 243 | // Very approximate: root value, divide by 2, approx distance in mm |
jah128 | 0:d6269d17c8cf | 244 | approximate_distance = sqrt (approximate_distance) / 2.0; |
jah128 | 1:060690a934a9 | 245 | |
jah128 | 0:d6269d17c8cf | 246 | // Then add adjustment value if value >27 |
jah128 | 0:d6269d17c8cf | 247 | if(approximate_distance > 27) { |
jah128 | 0:d6269d17c8cf | 248 | float shift = pow(approximate_distance - 27,3); |
jah128 | 0:d6269d17c8cf | 249 | approximate_distance += shift; |
jah128 | 0:d6269d17c8cf | 250 | } |
jah128 | 0:d6269d17c8cf | 251 | if(approximate_distance > 90) approximate_distance = 100.0; |
jah128 | 1:060690a934a9 | 252 | return approximate_distance; |
jah128 | 0:d6269d17c8cf | 253 | } |
jah128 | 0:d6269d17c8cf | 254 | |
jah128 | 0:d6269d17c8cf | 255 | // Returns the illuminated raw sensor value for the IR sensor defined by index (range 0-7); turns on the emitters for a 500us pulse |
jah128 | 10:e58323951c08 | 256 | unsigned short Sensors::read_illuminated_raw_ir_value ( char index ) |
jah128 | 1:060690a934a9 | 257 | { |
jah128 | 0:d6269d17c8cf | 258 | //This function reads the IR strength when illuminated - used for PC system debugging purposes |
jah128 | 0:d6269d17c8cf | 259 | //1. Enable the relevant IR emitter by turning on its pulse output |
jah128 | 1:060690a934a9 | 260 | switch(index) { |
jah128 | 1:060690a934a9 | 261 | case 0: |
jah128 | 1:060690a934a9 | 262 | case 1: |
jah128 | 1:060690a934a9 | 263 | case 6: |
jah128 | 1:060690a934a9 | 264 | case 7: |
jah128 | 11:312663037b8c | 265 | i2c_setup.IF_set_IR_emitter_output(0, 1); |
jah128 | 1:060690a934a9 | 266 | break; |
jah128 | 1:060690a934a9 | 267 | case 2: |
jah128 | 1:060690a934a9 | 268 | case 3: |
jah128 | 1:060690a934a9 | 269 | case 4: |
jah128 | 1:060690a934a9 | 270 | case 5: |
jah128 | 11:312663037b8c | 271 | i2c_setup.IF_set_IR_emitter_output(1, 1); |
jah128 | 1:060690a934a9 | 272 | break; |
jah128 | 0:d6269d17c8cf | 273 | } |
jah128 | 1:060690a934a9 | 274 | wait_us(ir_pulse_delay); |
jah128 | 0:d6269d17c8cf | 275 | //2. Read the ADC value now IR emitter is on |
jah128 | 11:312663037b8c | 276 | unsigned short strong_value = i2c_setup.IF_read_IR_adc_value( 1,index ); |
jah128 | 0:d6269d17c8cf | 277 | //3. Turn off IR emitter |
jah128 | 1:060690a934a9 | 278 | switch(index) { |
jah128 | 1:060690a934a9 | 279 | case 0: |
jah128 | 1:060690a934a9 | 280 | case 1: |
jah128 | 1:060690a934a9 | 281 | case 6: |
jah128 | 1:060690a934a9 | 282 | case 7: |
jah128 | 11:312663037b8c | 283 | i2c_setup.IF_set_IR_emitter_output(0, 0); |
jah128 | 1:060690a934a9 | 284 | break; |
jah128 | 1:060690a934a9 | 285 | case 2: |
jah128 | 1:060690a934a9 | 286 | case 3: |
jah128 | 1:060690a934a9 | 287 | case 4: |
jah128 | 1:060690a934a9 | 288 | case 5: |
jah128 | 11:312663037b8c | 289 | i2c_setup.IF_set_IR_emitter_output(1, 0); |
jah128 | 1:060690a934a9 | 290 | break; |
jah128 | 0:d6269d17c8cf | 291 | } |
jah128 | 0:d6269d17c8cf | 292 | return strong_value; |
jah128 | 0:d6269d17c8cf | 293 | } |
jah128 | 0:d6269d17c8cf | 294 | |
jah128 | 0:d6269d17c8cf | 295 | // Base IR sensor functions |
jah128 | 0:d6269d17c8cf | 296 | |
jah128 | 0:d6269d17c8cf | 297 | |
jah128 | 0:d6269d17c8cf | 298 | // Returns the stored value of the non-illuminated sensor based on last call of store_background_base_ir_values |
jah128 | 10:e58323951c08 | 299 | unsigned short Sensors::get_background_base_ir_value ( char index ) |
jah128 | 1:060690a934a9 | 300 | { |
jah128 | 0:d6269d17c8cf | 301 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 302 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 1:060690a934a9 | 303 | return background_base_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 304 | } |
jah128 | 1:060690a934a9 | 305 | |
jah128 | 0:d6269d17c8cf | 306 | // Returns the stored value of the illuminated sensor based on last call of store_illuminated_base_ir_values |
jah128 | 10:e58323951c08 | 307 | unsigned short Sensors::get_illuminated_base_ir_value ( char index ) |
jah128 | 1:060690a934a9 | 308 | { |
jah128 | 0:d6269d17c8cf | 309 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 310 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 1:060690a934a9 | 311 | return illuminated_base_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 312 | } |
jah128 | 1:060690a934a9 | 313 | |
jah128 | 0:d6269d17c8cf | 314 | // Stores the reflected distances for all 5 base IR sensors |
jah128 | 10:e58323951c08 | 315 | void Sensors::store_base_ir_values ( void ) |
jah128 | 1:060690a934a9 | 316 | { |
jah128 | 0:d6269d17c8cf | 317 | store_background_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 318 | store_illuminated_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 319 | //for(int i=0;i<5;i++){ |
jah128 | 1:060690a934a9 | 320 | // reflected_ir_distances [i] = calculate_reflected_distance( background_base_ir_values [i], illuminated_base_ir_values [i]); |
jah128 | 1:060690a934a9 | 321 | //} |
jah128 | 0:d6269d17c8cf | 322 | } |
jah128 | 1:060690a934a9 | 323 | |
jah128 | 0:d6269d17c8cf | 324 | // Stores the raw ADC values for all 5 base IR sensors without enabling IR emitters |
jah128 | 10:e58323951c08 | 325 | void Sensors::store_background_base_ir_values ( void ) |
jah128 | 1:060690a934a9 | 326 | { |
jah128 | 0:d6269d17c8cf | 327 | base_ir_values_stored = 1; |
jah128 | 1:060690a934a9 | 328 | for(int i=0; i<5; i++) { |
jah128 | 11:312663037b8c | 329 | background_base_ir_values [i] = i2c_setup.IF_read_IR_adc_value(2,i); |
jah128 | 0:d6269d17c8cf | 330 | } |
jah128 | 0:d6269d17c8cf | 331 | } |
jah128 | 1:060690a934a9 | 332 | |
jah128 | 0:d6269d17c8cf | 333 | // Stores the raw ADC values for all 5 base IR sensors with a 500us emitter pulse |
jah128 | 10:e58323951c08 | 334 | void Sensors::store_illuminated_base_ir_values ( void ) |
jah128 | 1:060690a934a9 | 335 | { |
jah128 | 1:060690a934a9 | 336 | //1. Enable the base IR emitters and store the values |
jah128 | 11:312663037b8c | 337 | i2c_setup.IF_set_IR_emitter_output(2, 1); |
jah128 | 1:060690a934a9 | 338 | wait_us(base_ir_pulse_delay); |
jah128 | 1:060690a934a9 | 339 | for(int i=0; i<5; i++) { |
jah128 | 11:312663037b8c | 340 | illuminated_base_ir_values [i] = i2c_setup.IF_read_IR_adc_value(2,i); |
jah128 | 0:d6269d17c8cf | 341 | } |
jah128 | 1:060690a934a9 | 342 | |
jah128 | 11:312663037b8c | 343 | i2c_setup.IF_set_IR_emitter_output(2, 0); |
jah128 | 0:d6269d17c8cf | 344 | } |
jah128 | 1:060690a934a9 | 345 | |
jah128 | 0:d6269d17c8cf | 346 | // Routine to store detected line position in a similar format to the used on 3Pi\m3Pi\PiSwarm |
jah128 | 10:e58323951c08 | 347 | void Sensors::store_line_position ( ) |
jah128 | 1:060690a934a9 | 348 | { |
jah128 | 0:d6269d17c8cf | 349 | // Store background and reflected base IR values |
jah128 | 0:d6269d17c8cf | 350 | store_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 351 | int h_value[5]; |
jah128 | 0:d6269d17c8cf | 352 | int line_threshold = 1000; |
jah128 | 0:d6269d17c8cf | 353 | int line_threshold_hi = 2000; |
jah128 | 0:d6269d17c8cf | 354 | char count = 0; |
jah128 | 0:d6269d17c8cf | 355 | line_found = 0; |
jah128 | 0:d6269d17c8cf | 356 | line_position = 0; |
jah128 | 1:060690a934a9 | 357 | for(int i=0; i<5; i++) { |
jah128 | 0:d6269d17c8cf | 358 | if(get_background_base_ir_value(i) > get_illuminated_base_ir_value(i)) h_value[i]=0; |
jah128 | 0:d6269d17c8cf | 359 | else h_value[i] = get_illuminated_base_ir_value(i) - get_background_base_ir_value(i); |
jah128 | 0:d6269d17c8cf | 360 | if(h_value[i] < line_threshold) count++; |
jah128 | 1:060690a934a9 | 361 | } |
jah128 | 1:060690a934a9 | 362 | if(count == 1) { |
jah128 | 1:060690a934a9 | 363 | line_found = 1; |
jah128 | 1:060690a934a9 | 364 | if(h_value[0] < line_threshold) { |
jah128 | 1:060690a934a9 | 365 | line_position = -1; |
jah128 | 1:060690a934a9 | 366 | if(h_value[1] < line_threshold_hi) line_position = -0.8; |
jah128 | 1:060690a934a9 | 367 | } |
jah128 | 1:060690a934a9 | 368 | |
jah128 | 1:060690a934a9 | 369 | if (h_value[1] < line_threshold) { |
jah128 | 1:060690a934a9 | 370 | line_position = -0.5 + (0.00005 * h_value[0]) - (0.0001 * h_value[2]);; |
jah128 | 1:060690a934a9 | 371 | } |
jah128 | 1:060690a934a9 | 372 | if(h_value[2] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 373 | line_position = (0.00005 * h_value[1]) - (0.0001 * h_value[3]); |
jah128 | 1:060690a934a9 | 374 | } |
jah128 | 1:060690a934a9 | 375 | if(h_value[3] < line_threshold) { |
jah128 | 1:060690a934a9 | 376 | line_position = 0.5 + (0.00005 * h_value[2]) - (0.0001 * h_value[4]);; |
jah128 | 1:060690a934a9 | 377 | } |
jah128 | 1:060690a934a9 | 378 | if(h_value[4] < line_threshold) { |
jah128 | 1:060690a934a9 | 379 | line_position = 1; |
jah128 | 1:060690a934a9 | 380 | if(h_value[3] < line_threshold_hi) line_position = 0.8; |
jah128 | 1:060690a934a9 | 381 | } |
jah128 | 0:d6269d17c8cf | 382 | } |
jah128 | 1:060690a934a9 | 383 | if(count == 2) { |
jah128 | 1:060690a934a9 | 384 | if(h_value[0] && h_value[1] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 385 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 386 | line_position = -0.6; |
jah128 | 0:d6269d17c8cf | 387 | } |
jah128 | 1:060690a934a9 | 388 | |
jah128 | 1:060690a934a9 | 389 | if(h_value[1] && h_value[2] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 390 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 391 | line_position = -0.4; |
jah128 | 0:d6269d17c8cf | 392 | } |
jah128 | 1:060690a934a9 | 393 | |
jah128 | 1:060690a934a9 | 394 | if(h_value[2] && h_value[3] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 395 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 396 | line_position = 0.4; |
jah128 | 0:d6269d17c8cf | 397 | } |
jah128 | 1:060690a934a9 | 398 | |
jah128 | 1:060690a934a9 | 399 | if(h_value[3] && h_value[4] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 400 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 401 | line_position = 0.6; |
jah128 | 0:d6269d17c8cf | 402 | } |
jah128 | 0:d6269d17c8cf | 403 | } |
jah128 | 0:d6269d17c8cf | 404 | } |
jah128 | 0:d6269d17c8cf | 405 | |
jah128 | 2:c6986ee3c7c5 | 406 | // Returns the subtraction of the background base IR value from the reflection based on last call of store_illuminated_base_ir_values |
jah128 | 10:e58323951c08 | 407 | unsigned short Sensors::calculate_base_ir_value ( char index ){ |
jah128 | 2:c6986ee3c7c5 | 408 | // If the index is not in the correct range or the base IR values have not been stored, return zero |
jah128 | 2:c6986ee3c7c5 | 409 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 2:c6986ee3c7c5 | 410 | // If the reflection value is greater than the background value, return the subtraction |
jah128 | 2:c6986ee3c7c5 | 411 | if(illuminated_base_ir_values[index] > background_base_ir_values[index]){ |
jah128 | 2:c6986ee3c7c5 | 412 | return illuminated_base_ir_values[index] - background_base_ir_values[index]; |
jah128 | 2:c6986ee3c7c5 | 413 | //Otherwise return zero |
jah128 | 2:c6986ee3c7c5 | 414 | } else { |
jah128 | 2:c6986ee3c7c5 | 415 | return 0.0; |
jah128 | 2:c6986ee3c7c5 | 416 | } |
jah128 | 2:c6986ee3c7c5 | 417 | } |
jah128 | 0:d6269d17c8cf | 418 | |
jah128 | 2:c6986ee3c7c5 | 419 | // Returns the subtraction of the background side IR value from the reflection based on last call of store_illuminated_base_ir_values |
jah128 | 10:e58323951c08 | 420 | unsigned short Sensors::calculate_side_ir_value ( char index ){ |
jah128 | 2:c6986ee3c7c5 | 421 | // If the index is not in the correct range or the base IR values have not been stored, return zero |
jah128 | 2:c6986ee3c7c5 | 422 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 2:c6986ee3c7c5 | 423 | // If the reflection value is greater than the background value, return the subtraction |
jah128 | 2:c6986ee3c7c5 | 424 | if(illuminated_ir_values[index] > background_ir_values[index]){ |
jah128 | 2:c6986ee3c7c5 | 425 | return illuminated_ir_values[index] - background_ir_values[index]; |
jah128 | 2:c6986ee3c7c5 | 426 | //Otherwise return zero |
jah128 | 2:c6986ee3c7c5 | 427 | } else { |
jah128 | 2:c6986ee3c7c5 | 428 | return 0.0; |
jah128 | 2:c6986ee3c7c5 | 429 | } |
jah128 | 2:c6986ee3c7c5 | 430 | } |
jah128 | 0:d6269d17c8cf | 431 | |
jah128 | 10:e58323951c08 | 432 | void Sensors::calibrate_base_ir_sensors (void) |
jah128 | 1:060690a934a9 | 433 | { |
jah128 | 0:d6269d17c8cf | 434 | short white_background[5]; |
jah128 | 0:d6269d17c8cf | 435 | short white_active[5]; |
jah128 | 0:d6269d17c8cf | 436 | short black_background[5]; |
jah128 | 0:d6269d17c8cf | 437 | short black_active[5]; |
jah128 | 1:060690a934a9 | 438 | for(int k=0; k<5; k++) { |
jah128 | 0:d6269d17c8cf | 439 | white_background[k]=0; |
jah128 | 0:d6269d17c8cf | 440 | black_background[k]=0; |
jah128 | 0:d6269d17c8cf | 441 | white_active[k]=0; |
jah128 | 1:060690a934a9 | 442 | black_active[k]=0; |
jah128 | 1:060690a934a9 | 443 | } |
jah128 | 0:d6269d17c8cf | 444 | pc.printf("Base IR Calibration\n"); |
jah128 | 0:d6269d17c8cf | 445 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 446 | display.write_string("Calibrating base"); |
jah128 | 0:d6269d17c8cf | 447 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 448 | display.write_string("IR sensor"); |
jah128 | 0:d6269d17c8cf | 449 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 450 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 451 | display.write_string("Place robot on"); |
jah128 | 0:d6269d17c8cf | 452 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 453 | display.write_string("white surface"); |
jah128 | 0:d6269d17c8cf | 454 | wait(3); |
jah128 | 0:d6269d17c8cf | 455 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 456 | display.write_string("Calibrating base"); |
jah128 | 0:d6269d17c8cf | 457 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 458 | display.write_string("IR sensor"); |
jah128 | 0:d6269d17c8cf | 459 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 460 | pc.printf("\nWhite Background Results:\n"); |
jah128 | 1:060690a934a9 | 461 | |
jah128 | 1:060690a934a9 | 462 | for(int i=0; i<5; i++) { |
jah128 | 1:060690a934a9 | 463 | wait(0.2); |
jah128 | 1:060690a934a9 | 464 | store_background_base_ir_values(); |
jah128 | 1:060690a934a9 | 465 | |
jah128 | 1:060690a934a9 | 466 | display.set_position(1,9); |
jah128 | 1:060690a934a9 | 467 | display.write_string("."); |
jah128 | 1:060690a934a9 | 468 | wait(0.2); |
jah128 | 1:060690a934a9 | 469 | store_illuminated_base_ir_values(); |
jah128 | 1:060690a934a9 | 470 | for(int k=0; k<5; k++) { |
jah128 | 1:060690a934a9 | 471 | white_background[k]+= get_background_base_ir_value(k); |
jah128 | 1:060690a934a9 | 472 | white_active[k] += get_illuminated_base_ir_value(k); |
jah128 | 1:060690a934a9 | 473 | } |
jah128 | 1:060690a934a9 | 474 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", (i+1), |
jah128 | 1:060690a934a9 | 475 | get_background_base_ir_value(0), get_illuminated_base_ir_value(0), |
jah128 | 1:060690a934a9 | 476 | get_background_base_ir_value(1), get_illuminated_base_ir_value(1), |
jah128 | 1:060690a934a9 | 477 | get_background_base_ir_value(2), get_illuminated_base_ir_value(2), |
jah128 | 1:060690a934a9 | 478 | get_background_base_ir_value(3), get_illuminated_base_ir_value(3), |
jah128 | 1:060690a934a9 | 479 | get_background_base_ir_value(4), get_illuminated_base_ir_value(4)); |
jah128 | 0:d6269d17c8cf | 480 | } |
jah128 | 1:060690a934a9 | 481 | for(int k=0; k<5; k++) { |
jah128 | 0:d6269d17c8cf | 482 | white_background[k]/=5; |
jah128 | 0:d6269d17c8cf | 483 | white_active[k]/=5; |
jah128 | 0:d6269d17c8cf | 484 | } |
jah128 | 0:d6269d17c8cf | 485 | pc.printf("Mean results 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", |
jah128 | 1:060690a934a9 | 486 | white_background[0], white_active[0], |
jah128 | 1:060690a934a9 | 487 | white_background[1], white_active[1], |
jah128 | 1:060690a934a9 | 488 | white_background[2], white_active[2], |
jah128 | 1:060690a934a9 | 489 | white_background[3], white_active[3], |
jah128 | 1:060690a934a9 | 490 | white_background[4], white_active[4]); |
jah128 | 1:060690a934a9 | 491 | |
jah128 | 0:d6269d17c8cf | 492 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 493 | display.write_string("Place robot on"); |
jah128 | 0:d6269d17c8cf | 494 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 495 | display.write_string("black surface"); |
jah128 | 1:060690a934a9 | 496 | wait(3); |
jah128 | 1:060690a934a9 | 497 | |
jah128 | 0:d6269d17c8cf | 498 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 499 | display.write_string("Calibrating base"); |
jah128 | 0:d6269d17c8cf | 500 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 501 | display.write_string("IR sensor"); |
jah128 | 0:d6269d17c8cf | 502 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 503 | pc.printf("\nBlack Background Results:\n"); |
jah128 | 1:060690a934a9 | 504 | |
jah128 | 1:060690a934a9 | 505 | for(int i=0; i<5; i++) { |
jah128 | 1:060690a934a9 | 506 | wait(0.2); |
jah128 | 0:d6269d17c8cf | 507 | |
jah128 | 1:060690a934a9 | 508 | store_background_base_ir_values(); |
jah128 | 1:060690a934a9 | 509 | display.set_position(1,9); |
jah128 | 1:060690a934a9 | 510 | display.write_string("."); |
jah128 | 1:060690a934a9 | 511 | wait(0.2); |
jah128 | 1:060690a934a9 | 512 | store_illuminated_base_ir_values(); |
jah128 | 1:060690a934a9 | 513 | for(int k=0; k<5; k++) { |
jah128 | 1:060690a934a9 | 514 | black_background[k]+= get_background_base_ir_value(k); |
jah128 | 1:060690a934a9 | 515 | black_active[k] += get_illuminated_base_ir_value(k); |
jah128 | 1:060690a934a9 | 516 | } |
jah128 | 1:060690a934a9 | 517 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", (i+1), |
jah128 | 1:060690a934a9 | 518 | get_background_base_ir_value(0), get_illuminated_base_ir_value(0), |
jah128 | 1:060690a934a9 | 519 | get_background_base_ir_value(1), get_illuminated_base_ir_value(1), |
jah128 | 1:060690a934a9 | 520 | get_background_base_ir_value(2), get_illuminated_base_ir_value(2), |
jah128 | 1:060690a934a9 | 521 | get_background_base_ir_value(3), get_illuminated_base_ir_value(3), |
jah128 | 1:060690a934a9 | 522 | get_background_base_ir_value(4), get_illuminated_base_ir_value(4)); |
jah128 | 1:060690a934a9 | 523 | } |
jah128 | 1:060690a934a9 | 524 | for(int k=0; k<5; k++) { |
jah128 | 0:d6269d17c8cf | 525 | black_background[k]/=5; |
jah128 | 0:d6269d17c8cf | 526 | black_active[k]/=5; |
jah128 | 0:d6269d17c8cf | 527 | } |
jah128 | 1:060690a934a9 | 528 | pc.printf("Mean results 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", |
jah128 | 1:060690a934a9 | 529 | black_background[0], black_active[0], |
jah128 | 1:060690a934a9 | 530 | black_background[1], black_active[1], |
jah128 | 1:060690a934a9 | 531 | black_background[2], black_active[2], |
jah128 | 1:060690a934a9 | 532 | black_background[3], black_active[3], |
jah128 | 1:060690a934a9 | 533 | black_background[4], black_active[4]); |
jah128 | 1:060690a934a9 | 534 | |
jah128 | 0:d6269d17c8cf | 535 | } |
jah128 | 0:d6269d17c8cf | 536 | |
jah128 | 0:d6269d17c8cf | 537 | |
jah128 | 10:e58323951c08 | 538 | int Sensors::get_bearing_from_ir_array (unsigned short * ir_sensor_readings) |
jah128 | 1:060690a934a9 | 539 | { |
jah128 | 0:d6269d17c8cf | 540 | //out("Getting bearing from array: [%d][%d][%d][%d][%d][%d][%d][%d]\n",ir_sensor_readings[0],ir_sensor_readings[1],ir_sensor_readings[2],ir_sensor_readings[3],ir_sensor_readings[4],ir_sensor_readings[5],ir_sensor_readings[6],ir_sensor_readings[7]); |
jah128 | 1:060690a934a9 | 541 | |
jah128 | 0:d6269d17c8cf | 542 | float degrees_per_radian = 57.295779513; |
jah128 | 1:060690a934a9 | 543 | |
jah128 | 0:d6269d17c8cf | 544 | // sin(IR sensor angle) and cos(IR sensor angle) LUT, for all 8 sensors |
jah128 | 0:d6269d17c8cf | 545 | float ir_sensor_sin[8] = {0.382683432, 0.923879533, 0.923879533, 0.382683432, -0.382683432, -0.923879533, -0.923879533, -0.382683432}; |
jah128 | 0:d6269d17c8cf | 546 | float ir_sensor_cos[8] = {0.923879533, 0.382683432, -0.382683432, -0.923879533, -0.923879533, -0.382683432, 0.382683432, 0.923879533}; |
jah128 | 1:060690a934a9 | 547 | |
jah128 | 0:d6269d17c8cf | 548 | float sin_sum = 0; |
jah128 | 0:d6269d17c8cf | 549 | float cos_sum = 0; |
jah128 | 1:060690a934a9 | 550 | |
jah128 | 1:060690a934a9 | 551 | for(int i = 0; i < 8; i++) { |
jah128 | 0:d6269d17c8cf | 552 | // Use IR sensor reading to weight bearing vector |
jah128 | 0:d6269d17c8cf | 553 | sin_sum += ir_sensor_sin[i] * ir_sensor_readings[i]; |
jah128 | 0:d6269d17c8cf | 554 | cos_sum += ir_sensor_cos[i] * ir_sensor_readings[i]; |
jah128 | 0:d6269d17c8cf | 555 | } |
jah128 | 1:060690a934a9 | 556 | |
jah128 | 1:060690a934a9 | 557 | float bearing = atan2(sin_sum, cos_sum); // Calculate vector towards IR light source |
jah128 | 0:d6269d17c8cf | 558 | bearing *= degrees_per_radian; // Convert to degrees |
jah128 | 0:d6269d17c8cf | 559 | |
jah128 | 0:d6269d17c8cf | 560 | //out("Sin sum:%f Cos sum:%f Bearing:%f\n",sin_sum,cos_sum,bearing); |
jah128 | 0:d6269d17c8cf | 561 | |
jah128 | 0:d6269d17c8cf | 562 | return (int) bearing; |
jah128 | 1:060690a934a9 | 563 | } |
jah128 | 0:d6269d17c8cf | 564 |