Jon Marsh / Mbed 2 deprecated m3pi_attack

Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Attack mid/near strategy

Dependencies:   mbed

SharpDigiDist100/SharpDigiDist100.cpp@0:dda4072af5ff, 2012-06-18 (annotated)

Committer:
jonmarsh
Date:
Mon Jun 18 09:54:54 2012 +0000
Revision:
0:dda4072af5ff
not tested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jonmarsh 0:dda4072af5ff 1 #include "SharpDigiDist100.h"
jonmarsh 0:dda4072af5ff 2
jonmarsh 0:dda4072af5ff 3 SharpDigiDist100::SharpDigiDist100(PinName pin):intin(pin),pinin(pin)
jonmarsh 0:dda4072af5ff 4 {
jonmarsh 0:dda4072af5ff 5 timer1.reset();
jonmarsh 0:dda4072af5ff 6 intin.rise(this,&SharpDigiDist100::onInt);
jonmarsh 0:dda4072af5ff 7 intin.fall(this,&SharpDigiDist100::onInt);
jonmarsh 0:dda4072af5ff 8 timer1.start();
jonmarsh 0:dda4072af5ff 9 //onInt();
jonmarsh 0:dda4072af5ff 10 current = Far;
jonmarsh 0:dda4072af5ff 11 //last = NA;
jonmarsh 0:dda4072af5ff 12 onChangeAttached = false;
jonmarsh 0:dda4072af5ff 13 }
jonmarsh 0:dda4072af5ff 14
jonmarsh 0:dda4072af5ff 15 void SharpDigiDist100::onInt()
jonmarsh 0:dda4072af5ff 16 {
jonmarsh 0:dda4072af5ff 17 timer1.stop();
jonmarsh 0:dda4072af5ff 18 last = current;
jonmarsh 0:dda4072af5ff 19 int timeFromLast = timer1.read_ms();
jonmarsh 0:dda4072af5ff 20 if (timeFromLast < 100)
jonmarsh 0:dda4072af5ff 21 {
jonmarsh 0:dda4072af5ff 22 current = Far;
jonmarsh 0:dda4072af5ff 23 timeout.attach(this,&SharpDigiDist100::onInt, 0.3);
jonmarsh 0:dda4072af5ff 24 }
jonmarsh 0:dda4072af5ff 25 else
jonmarsh 0:dda4072af5ff 26 {
jonmarsh 0:dda4072af5ff 27 if(pinin)
jonmarsh 0:dda4072af5ff 28 {
jonmarsh 0:dda4072af5ff 29 current = Mid;
jonmarsh 0:dda4072af5ff 30 }
jonmarsh 0:dda4072af5ff 31 else
jonmarsh 0:dda4072af5ff 32 {
jonmarsh 0:dda4072af5ff 33 current = Near;
jonmarsh 0:dda4072af5ff 34 }
jonmarsh 0:dda4072af5ff 35 }
jonmarsh 0:dda4072af5ff 36 if(current != last)
jonmarsh 0:dda4072af5ff 37 {
jonmarsh 0:dda4072af5ff 38 if(onChangeAttached)
jonmarsh 0:dda4072af5ff 39 {
jonmarsh 0:dda4072af5ff 40 onChange();
jonmarsh 0:dda4072af5ff 41 }
jonmarsh 0:dda4072af5ff 42 }
jonmarsh 0:dda4072af5ff 43 timer1.reset();
jonmarsh 0:dda4072af5ff 44 timer1.start();
jonmarsh 0:dda4072af5ff 45 }
jonmarsh 0:dda4072af5ff 46
jonmarsh 0:dda4072af5ff 47 int SharpDigiDist100::getDistance()
jonmarsh 0:dda4072af5ff 48 {
jonmarsh 0:dda4072af5ff 49 return current;
jonmarsh 0:dda4072af5ff 50 }
jonmarsh 0:dda4072af5ff 51
jonmarsh 0:dda4072af5ff 52 void SharpDigiDist100::attachOnChange(void (*ptr) (void))
jonmarsh 0:dda4072af5ff 53 {
jonmarsh 0:dda4072af5ff 54 onChange = ptr;
jonmarsh 0:dda4072af5ff 55 onChangeAttached = true;
jonmarsh 0:dda4072af5ff 56 }