Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Attack mid/near strategy
SharpDigiDist100/SharpDigiDist100.h@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?
User | Revision | Line number | New contents of line |
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jonmarsh | 0:dda4072af5ff | 1 | #ifndef SHARPDIGIDIST100_H |
jonmarsh | 0:dda4072af5ff | 2 | #define SHARPDIGIDIST100_H |
jonmarsh | 0:dda4072af5ff | 3 | |
jonmarsh | 0:dda4072af5ff | 4 | #include "mbed.h" |
jonmarsh | 0:dda4072af5ff | 5 | |
jonmarsh | 0:dda4072af5ff | 6 | /** A class which interfaces with a Sharp Digital Distance sensor (GP2Y0D810) |
jonmarsh | 0:dda4072af5ff | 7 | * |
jonmarsh | 0:dda4072af5ff | 8 | * Example: |
jonmarsh | 0:dda4072af5ff | 9 | * @code |
jonmarsh | 0:dda4072af5ff | 10 | * |
jonmarsh | 0:dda4072af5ff | 11 | * @endcode |
jonmarsh | 0:dda4072af5ff | 12 | * |
jonmarsh | 0:dda4072af5ff | 13 | */ |
jonmarsh | 0:dda4072af5ff | 14 | |
jonmarsh | 0:dda4072af5ff | 15 | class SharpDigiDist100 |
jonmarsh | 0:dda4072af5ff | 16 | { |
jonmarsh | 0:dda4072af5ff | 17 | public: |
jonmarsh | 0:dda4072af5ff | 18 | |
jonmarsh | 0:dda4072af5ff | 19 | /** Create a sensor input |
jonmarsh | 0:dda4072af5ff | 20 | * |
jonmarsh | 0:dda4072af5ff | 21 | * @param pin The pin the output of the sensor is connected to |
jonmarsh | 0:dda4072af5ff | 22 | */ |
jonmarsh | 0:dda4072af5ff | 23 | |
jonmarsh | 0:dda4072af5ff | 24 | SharpDigiDist100(PinName pin); |
jonmarsh | 0:dda4072af5ff | 25 | |
jonmarsh | 0:dda4072af5ff | 26 | /** The enum which makes up the output |
jonmarsh | 0:dda4072af5ff | 27 | * |
jonmarsh | 0:dda4072af5ff | 28 | */ |
jonmarsh | 0:dda4072af5ff | 29 | |
jonmarsh | 0:dda4072af5ff | 30 | enum Distance |
jonmarsh | 0:dda4072af5ff | 31 | { |
jonmarsh | 0:dda4072af5ff | 32 | Near = 1, |
jonmarsh | 0:dda4072af5ff | 33 | Mid, |
jonmarsh | 0:dda4072af5ff | 34 | Far |
jonmarsh | 0:dda4072af5ff | 35 | }; |
jonmarsh | 0:dda4072af5ff | 36 | |
jonmarsh | 0:dda4072af5ff | 37 | /** Returns the distace as an enum |
jonmarsh | 0:dda4072af5ff | 38 | * |
jonmarsh | 0:dda4072af5ff | 39 | * @return The distance code: 1 is near, 2 is middle distance and 3 is far |
jonmarsh | 0:dda4072af5ff | 40 | */ |
jonmarsh | 0:dda4072af5ff | 41 | |
jonmarsh | 0:dda4072af5ff | 42 | int getDistance(); |
jonmarsh | 0:dda4072af5ff | 43 | |
jonmarsh | 0:dda4072af5ff | 44 | /** Attaches a function which is called on distance change |
jonmarsh | 0:dda4072af5ff | 45 | * |
jonmarsh | 0:dda4072af5ff | 46 | * @param A pointer to a function with params/returns: void func(void) |
jonmarsh | 0:dda4072af5ff | 47 | */ |
jonmarsh | 0:dda4072af5ff | 48 | |
jonmarsh | 0:dda4072af5ff | 49 | void attachOnChange(void (*ptr) (void)); |
jonmarsh | 0:dda4072af5ff | 50 | |
jonmarsh | 0:dda4072af5ff | 51 | |
jonmarsh | 0:dda4072af5ff | 52 | protected: |
jonmarsh | 0:dda4072af5ff | 53 | |
jonmarsh | 0:dda4072af5ff | 54 | InterruptIn intin; |
jonmarsh | 0:dda4072af5ff | 55 | |
jonmarsh | 0:dda4072af5ff | 56 | DigitalIn pinin; |
jonmarsh | 0:dda4072af5ff | 57 | |
jonmarsh | 0:dda4072af5ff | 58 | Timer timer1; |
jonmarsh | 0:dda4072af5ff | 59 | |
jonmarsh | 0:dda4072af5ff | 60 | enum Distance current; |
jonmarsh | 0:dda4072af5ff | 61 | |
jonmarsh | 0:dda4072af5ff | 62 | enum Distance last; |
jonmarsh | 0:dda4072af5ff | 63 | |
jonmarsh | 0:dda4072af5ff | 64 | void onInt(); |
jonmarsh | 0:dda4072af5ff | 65 | |
jonmarsh | 0:dda4072af5ff | 66 | Timeout timeout; |
jonmarsh | 0:dda4072af5ff | 67 | |
jonmarsh | 0:dda4072af5ff | 68 | void (*onChange) (void); |
jonmarsh | 0:dda4072af5ff | 69 | |
jonmarsh | 0:dda4072af5ff | 70 | bool onChangeAttached; |
jonmarsh | 0:dda4072af5ff | 71 | |
jonmarsh | 0:dda4072af5ff | 72 | //DigitalOut Debug; |
jonmarsh | 0:dda4072af5ff | 73 | }; |
jonmarsh | 0:dda4072af5ff | 74 | |
jonmarsh | 0:dda4072af5ff | 75 | #endif |