Diff: paw.cpp

Revision:

0:ebd7c54059ae

Child:

1:6ec3794072de

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/paw.cpp	Sun Nov 09 08:13:22 2014 +0000
@@ -0,0 +1,94 @@
+/* mbed PAW_Sensor Library
+ *
+ * paw.cpp
+ *
+ * Copyright (c) 2014 Hiroaki Matsuda
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "paw.h"
+
+PAW::PAW( PinName led_1, PinName led_2, PinName photo_1, PinName photo_2 ):
+        _led_1( led_1 ), _led_2( led_2 ), _photo_1( photo_1 ), _photo_2( photo_2 ){
+
+    _led_1 = 0;
+    _led_2 = 0;
+    _state = STATE_1;
+}
+
+unsigned char PAW::process_paw()
+{
+    switch( _state )
+    {
+        case STATE_1:
+            _value.initial_photo_1 = _photo_1.read_u16();
+            _value.initial_photo_2 = _photo_2.read_u16();
+            _led_1 = 1;
+            
+            _state = STATE_2;
+            break;
+            
+        case STATE_2:
+            _value.ch_3 = ( _photo_1.read_u16() - _value.initial_photo_1 ) >> 4;
+            _value.ch_4 = ( _photo_2.read_u16() - _value.initial_photo_2 ) >> 4;
+            _led_1 = 0;
+            
+            _state = STATE_3;
+            break;
+            
+        case STATE_3:
+            _value.initial_photo_1 = _photo_1.read_u16();
+            _value.initial_photo_2 = _photo_2.read_u16();
+            _led_2 = 1;
+            
+            _state = STATE_4;
+            break;
+            
+        case STATE_4:
+            _value.ch_2 = ( _photo_1.read_u16() - _value.initial_photo_2 ) >> 4;
+            _value.ch_1 = ( _photo_2.read_u16() - _value.initial_photo_1 ) >> 4;
+            _led_2 = 0;
+            
+            _state = STATE_1;                                                               
+            break;
+    }
+    
+    return _state;
+}
+
+paw_value PAW::get_value()
+{
+    return _value;
+}
+
+bool PAW::get_state()
+{
+    return _state;
+}
+
+void PAW::print( Serial* pc )
+{
+    pc->printf("%c%c%c%c%c%c%c%c%c%c", 0xFA, 0xAF, 
+                                           _value.ch_1 & 0x00FF, ( _value.ch_1 & 0xFF00 ) >> 8,
+                                           _value.ch_2 & 0x00FF, ( _value.ch_2 & 0xFF00 ) >> 8,
+                                           _value.ch_3 & 0x00FF, ( _value.ch_3 & 0xFF00 ) >> 8,
+                                           _value.ch_4 & 0x00FF, ( _value.ch_4 & 0xFF00 ) >> 8);
+}
+