Diff: m3pi.h

Revision:

9:074ce6197b51

Parent:

4:0abe81f5d9fd

Child:

10:0dec82280040

diff -r 92167bd3eb44 -r 074ce6197b51 m3pi.h
--- a/m3pi.h	Wed Jul 05 14:39:33 2017 +0000
+++ b/m3pi.h	Mon Mar 19 13:06:40 2018 +0000
@@ -28,6 +28,11 @@
     * @details code and start 3pi in serial slave mode
     */
     void init();
+    
+    /** Causes the robot to read the IR sensors
+    * @details is an alterative to get_*_values methods if you don't need the values themselves
+    */
+    void scan();
 
     /** Get signature of slave firmware
     * @param signature - array of size 7 to store signature
@@ -75,6 +80,14 @@
     * @details 0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
     */
     float get_line_position();
+    
+    /** Returns an estimate of the normalised line position
+    * @returns float in the range -1.0 to 1.0
+    * @details uses the values of sensor stored in the class - must call scan() first!
+    * @details -1.0 for line under sensor 0, -0.5 for line under sensor 1
+    * @details 0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
+    */
+    float read_line(); 
 
     /** Clear LCD
     */
@@ -148,6 +161,11 @@
     */
     void display_signature(int x,int y);
     
+    /** Display line position and bar graph of sensor readings on LCD
+    * @details must call scan() and read_line() first
+    */
+    void display_data();
+    
     /** Display sensor values on LCD
     * @param values - array of calibrated sensor values
     * @param y - line on LCD to display
@@ -175,6 +193,7 @@
     float _last_line_position;
     
     char _bar_graph[7];
+    unsigned int _values[5];
 
     void reset();