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Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Attack mid/near strategy
Diff: SharpDigiDist100/SharpDigiDist100.cpp
- Revision:
- 0:dda4072af5ff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SharpDigiDist100/SharpDigiDist100.cpp Mon Jun 18 09:54:54 2012 +0000 @@ -0,0 +1,56 @@ +#include "SharpDigiDist100.h" + +SharpDigiDist100::SharpDigiDist100(PinName pin):intin(pin),pinin(pin) +{ +timer1.reset(); +intin.rise(this,&SharpDigiDist100::onInt); +intin.fall(this,&SharpDigiDist100::onInt); +timer1.start(); +//onInt(); +current = Far; +//last = NA; +onChangeAttached = false; +} + +void SharpDigiDist100::onInt() +{ + timer1.stop(); + last = current; + int timeFromLast = timer1.read_ms(); + if (timeFromLast < 100) + { + current = Far; + timeout.attach(this,&SharpDigiDist100::onInt, 0.3); + } + else + { + if(pinin) + { + current = Mid; + } + else + { + current = Near; + } + } + if(current != last) + { + if(onChangeAttached) + { + onChange(); + } + } + timer1.reset(); + timer1.start(); +} + +int SharpDigiDist100::getDistance() +{ + return current; +} + +void SharpDigiDist100::attachOnChange(void (*ptr) (void)) +{ + onChange = ptr; + onChangeAttached = true; +} \ No newline at end of file