Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

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Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

simpleLaserRenderer.h@15:56a0bf424e8d, 2012-04-12 (annotated)

Committer:
mbedalvaro
Date:
Thu Apr 12 14:50:50 2012 +0000
Revision:
15:56a0bf424e8d
Parent:
14:0fc33a3a7b4b
Child:
16:2ff1cb2ae1b1
this is not bad, but still two or more spots produce problems. Need to re-trace TWICE a spot - or do like before, do a little more of it's trajectory.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:345b3bc7a0ea 1 #ifndef simpleLaserSensingRenderer_h
mbedalvaro 0:345b3bc7a0ea 2 #define simpleLaserSensingRenderer_h
mbedalvaro 0:345b3bc7a0ea 3
mbedalvaro 0:345b3bc7a0ea 4 #include "blobConfig.h"
mbedalvaro 0:345b3bc7a0ea 5 // Include hardware interface for display and sensing:
mbedalvaro 0:345b3bc7a0ea 6 #include "hardwareIO.h"
mbedalvaro 0:345b3bc7a0ea 7
mbedalvaro 0:345b3bc7a0ea 8 //extern DigitalOut myled3; // for tests...
mbedalvaro 0:345b3bc7a0ea 9
mbedalvaro 0:345b3bc7a0ea 10 #define debugDelayMirrors // this is to check visually the mirror delay (but it is also beautiful)
mbedalvaro 0:345b3bc7a0ea 11
mbedalvaro 15:56a0bf424e8d 12 #define RED_BLANKING // note: RED blanking introduce a lot of problems because the Lock-in looses signal
mbedalvaro 15:56a0bf424e8d 13
mbedalvaro 5:73cd58b58f95 14 #define RENDER_INTERVAL 0.00011 // good value in previous version (monaco) was 0.00011 // in seconds (Ticker)
mbedalvaro 4:f9d364f10335 15
mbedalvaro 14:0fc33a3a7b4b 16 #define WAIT_NORMAL 0 // good :0 // (minimum is 0) waiting time for setting mirror position MINUS waiting laser time (note that this total waiting time may be equal to 0 if we set a good sampling freq for the renderer, but
mbedalvaro 4:f9d364f10335 17 // and if the shape is regular so that this time does not change significatively - this is not the case for multiple blobs or highly deformed blobs).
mbedalvaro 15:56a0bf424e8d 18 #define WAIT_LASER 0 // (minimum is 0) waiting time for activating the laser (if there are color changes IN BETWEEN points). Maybe needed for the green laser
mbedalvaro 15:56a0bf424e8d 19 // WHEN THERE IS MORE THAN ONE SPOT:
mbedalvaro 15:56a0bf424e8d 20 #define WAIT_FIRST 4 // special waiting time for mirror positining to first point on next blob BEFORE activating laser
mbedalvaro 15:56a0bf424e8d 21 #define WAIT_FIRST_LASER 2 // IMPORTANT waiting time for the activation of the RED laser and LOCK-IN (also waiting time for the mirrors)
mbedalvaro 9:3321170d157c 22 #define WAIT_LAST 2 // special waiting time for last point
mbedalvaro 4:f9d364f10335 23
mbedalvaro 4:f9d364f10335 24 enum lsdStateType {NORMAL_POINT, LAST_POINT, MOVE_NEXT_BLOB, START_POINT};
mbedalvaro 0:345b3bc7a0ea 25
mbedalvaro 0:345b3bc7a0ea 26 class simpleLaserSensingRenderer {
mbedalvaro 0:345b3bc7a0ea 27 public:
mbedalvaro 0:345b3bc7a0ea 28
mbedalvaro 0:345b3bc7a0ea 29 void setConfigToRender(blobConfig*);
mbedalvaro 0:345b3bc7a0ea 30 //void startRenderer(); // pb: I cannot use the ticker function inside the class!
mbedalvaro 0:345b3bc7a0ea 31 void laserRenderThread();
mbedalvaro 7:0df17f3078bc 32 void laserRenderThreadONEBLOBONLY();
mbedalvaro 0:345b3bc7a0ea 33 // void laserRender(blobConfig*);
mbedalvaro 0:345b3bc7a0ea 34
mbedalvaro 0:345b3bc7a0ea 35 blobConfig* ptBlobCfToRender;
mbedalvaro 4:f9d364f10335 36
mbedalvaro 4:f9d364f10335 37 lsdStateType stateLsd;
mbedalvaro 0:345b3bc7a0ea 38 int totalBlobs;
mbedalvaro 0:345b3bc7a0ea 39 int currentBlob;
mbedalvaro 0:345b3bc7a0ea 40 int currentPoint;
mbedalvaro 0:345b3bc7a0ea 41 int currentMirrorDelay;
mbedalvaro 0:345b3bc7a0ea 42 int currentTotalPoints;
mbedalvaro 0:345b3bc7a0ea 43 int currentColor;
mbedalvaro 9:3321170d157c 44 unsigned short x,y; // auxiliary variables storing mirror position(0-4096)
mbedalvaro 9:3321170d157c 45
mbedalvaro 13:9f03eac02700 46 // New method to check complete display of one loop:
mbedalvaro 13:9f03eac02700 47 unsigned char configTotalPoints;
mbedalvaro 13:9f03eac02700 48 unsigned char pointDisplayCounter;
mbedalvaro 13:9f03eac02700 49 bool endedFullDisplay();
mbedalvaro 13:9f03eac02700 50 void startFullDisplay();
mbedalvaro 4:f9d364f10335 51
mbedalvaro 15:56a0bf424e8d 52 int waitNormal, waitLaser, waitFirst, waitFirstLaser, waitLast;
mbedalvaro 0:345b3bc7a0ea 53 };
mbedalvaro 0:345b3bc7a0ea 54
mbedalvaro 0:345b3bc7a0ea 55 #endif
mbedalvaro 0:345b3bc7a0ea 56
mbedalvaro 0:345b3bc7a0ea 57
mbedalvaro 0:345b3bc7a0ea 58