This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Sensors/Colour/Colour.h@43:c592bf6a6a2d, 2013-04-12 (annotated)
- Committer:
- xiaxia686
- Date:
- Fri Apr 12 16:24:25 2013 +0000
- Revision:
- 43:c592bf6a6a2d
- Parent:
- 7:4340355261f9
- Child:
- 45:77cf6375348a
Colour sensors calibrated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 3:717de74f6ebd | 1 | |
twighk | 3:717de74f6ebd | 2 | // Eurobot13 Colour.h |
twighk | 3:717de74f6ebd | 3 | |
madcowswe | 5:56a5fdd373c9 | 4 | |
twighk | 3:717de74f6ebd | 5 | #include "mbed.h" |
xiaxia686 | 43:c592bf6a6a2d | 6 | #include "globals.h" |
twighk | 3:717de74f6ebd | 7 | |
xiaxia686 | 43:c592bf6a6a2d | 8 | #define BUFF_SIZE 10 |
xiaxia686 | 43:c592bf6a6a2d | 9 | #define SNR_THRESHOLD_DB 4 |
xiaxia686 | 43:c592bf6a6a2d | 10 | |
xiaxia686 | 43:c592bf6a6a2d | 11 | #define UPPERARM_CORRECTION 2.310f |
xiaxia686 | 43:c592bf6a6a2d | 12 | #define LOWERARM_CORRECTION 1.000f |
xiaxia686 | 43:c592bf6a6a2d | 13 | |
xiaxia686 | 43:c592bf6a6a2d | 14 | |
xiaxia686 | 43:c592bf6a6a2d | 15 | enum ColourEnum {BLUE=0, RED, WHITE, BLACK}; |
xiaxia686 | 43:c592bf6a6a2d | 16 | enum ArmEnum {UPPER=0, LOWER}; |
twighk | 3:717de74f6ebd | 17 | |
twighk | 3:717de74f6ebd | 18 | class Colour{ |
xiaxia686 | 43:c592bf6a6a2d | 19 | public: |
xiaxia686 | 43:c592bf6a6a2d | 20 | Colour( |
xiaxia686 | 43:c592bf6a6a2d | 21 | PinName blue_led, |
xiaxia686 | 43:c592bf6a6a2d | 22 | PinName red_led, |
xiaxia686 | 43:c592bf6a6a2d | 23 | PinName pt, |
xiaxia686 | 43:c592bf6a6a2d | 24 | ArmEnum arm); |
twighk | 3:717de74f6ebd | 25 | |
xiaxia686 | 43:c592bf6a6a2d | 26 | ColourEnum getColour(); |
twighk | 3:717de74f6ebd | 27 | |
twighk | 3:717de74f6ebd | 28 | |
twighk | 3:717de74f6ebd | 29 | private: |
xiaxia686 | 43:c592bf6a6a2d | 30 | Ticker _ticker; |
xiaxia686 | 43:c592bf6a6a2d | 31 | DigitalOut _blue_led; |
xiaxia686 | 43:c592bf6a6a2d | 32 | DigitalOut _red_led; |
xiaxia686 | 43:c592bf6a6a2d | 33 | AnalogIn _pt; |
xiaxia686 | 43:c592bf6a6a2d | 34 | ArmEnum _arm; |
xiaxia686 | 43:c592bf6a6a2d | 35 | |
xiaxia686 | 43:c592bf6a6a2d | 36 | float red_correction_factor; |
xiaxia686 | 43:c592bf6a6a2d | 37 | double _colour; |
xiaxia686 | 43:c592bf6a6a2d | 38 | double _SNR; |
xiaxia686 | 43:c592bf6a6a2d | 39 | void _Blink (void); |
twighk | 3:717de74f6ebd | 40 | |
twighk | 3:717de74f6ebd | 41 | }; |