paw.h

00001 #ifndef PAW_H
00002 #define PAW_H
00003 
00004 #include "mbed.h"
00005 
00006 #define STATE_1 0
00007 #define STATE_2 1
00008 #define STATE_3 2
00009 #define STATE_4 3
00010 
00011 struct paw_value
00012 {
00013     public: 
00014         short ch_1;
00015         short ch_2;
00016         short ch_3;
00017         short ch_4;
00018         short initial_photo_1;
00019         short initial_photo_2;
00020         
00021         paw_value()
00022             {
00023                 ch_1 = 0;
00024                 ch_2 = 0;
00025                 ch_3 = 0;
00026                 ch_4 = 0;
00027                 initial_photo_1 = 0;
00028                 initial_photo_2 = 0;
00029             }
00030 };
00031 
00032 /** PAW_Sensor Library
00033  *
00034  * Example:
00035  * @code
00036  * 
00037 #include "mbed.h"
00038 #include "paw.h"
00039 
00040 Serial pc( USBTX, USBRX ); 
00041 const unsigned long baudrate = 115200;
00042 
00043 // paw( LED1, LED2, PHOTO1, PHOTO2 )
00044 PAW paw( p8, p9, p16, p17 );
00045 paw_value g_value;
00046 
00047 Ticker run;
00048 
00049 
00050 void run_paw_sensor()
00051 {
00052     if( paw.process_paw() == STATE_1 )
00053     {
00054         paw.print( &pc, 0 );   
00055     }
00056 }
00057 
00058 int main() 
00059 {
00060     // Initializing Serial Communication
00061     pc.baud( baudrate );
00062     pc.format( 8, Serial::None, 1 );
00063     
00064     run.attach_us(&run_paw_sensor, 500);
00065     
00066     while(1);
00067 }
00068 
00069  * @endcode
00070  */
00071 
00072 class PAW {
00073     
00074     public:
00075     
00076         /** Create a PAW Sensor instance
00077          *
00078          * @param led_1 PAW Sensor's Pin 5
00079          * @param led_2 PAW Sensor's Pin 4
00080          * @param photo_1 PAW Sensor's Pin 3
00081          * @param photo_2 PAW Sensor's Pin 2
00082          */ 
00083         PAW( PinName led_1, PinName led_2, PinName photo_1, PinName photo_2 );
00084         
00085         /** Get values of PAW Sensor
00086          *
00087          * @return Return values of photosensor's voltage.
00088          */ 
00089         paw_value get_value();
00090         
00091         /** Processing of Paw sensor. This fucntion must be performed periodically.
00092          *
00093          * @return Return current processing-state.
00094          */ 
00095         unsigned char process_paw();
00096         
00097         /** Get current processing-state.
00098          *
00099          * @return Return current processing-state.
00100          */ 
00101         bool get_state();
00102         
00103         /** Send values of PAW Sensor through serial-communication.
00104          *
00105          * @param Reference to serial object.
00106          * @param ID of PAW Sensor. you can chose number from 0 to 255.
00107          */ 
00108         void print( Serial* pc, unsigned char id );
00109         
00110     protected:
00111         DigitalOut _led_1;
00112         DigitalOut _led_2;
00113         AnalogIn   _photo_1;
00114         AnalogIn   _photo_2;
00115         
00116         unsigned char _state;
00117         
00118         paw_value _value;
00119 };
00120 
00121 #endif /*** PAW_H ***/