Diff: IRBehaviorController.cpp

Revision:

1:ac4eff391f12

Parent:

0:9ac4a91b71fa

Child:

2:b789f31e6d94

--- a/IRBehaviorController.cpp	Wed Apr 04 17:07:49 2012 +0000
+++ b/IRBehaviorController.cpp	Sat Apr 07 02:22:00 2012 +0000
@@ -1,99 +1,99 @@
-#include "mbed.h"
-
-#include "IRBehaviorController.h"
-
-
-// Public methods
-
-void
-IRBehaviorController::setActiveThreshold(float threshold)
-{
-    NVIC_DisableIRQ(TIMER3_IRQn);   // Disable Ticker IRQ for atomicity
-    activationThreshold = threshold;
-    NVIC_EnableIRQ(TIMER3_IRQn);    // Enable Ticker IRQ
-}
-
-
-void
-IRBehaviorController::runSeeking(void)
-{
-    if (debug != NULL)
-        debug->printf("IRController: Seeking Task Start.\r\n");
-    
-    scanIR();
-
-    if (brightness > activationThreshold)
-        output = pid->run(centeroid);
-    else
-        output = 0;
-    
-    if (debug != NULL)
-        debug->printf("IRController: Seeking Task Complete.\r\n");
-}
-
-void
-IRBehaviorController::runAvoidance(void)
-{
-    if (debug != NULL)
-        debug->printf("IRController: Avoidance Task Start.\r\n");
-    
-    scanIR();
-
-    // Centeroid value needs to be split for avoidance mode.
-    if (centeroid < 0)
-        centeroid += 3;
-    else
-        centeroid -=3;
-        
-    if (brightness > activationThreshold)
-        output = pid->run(centeroid);    
-    else
-        output = 0;
-    
-    if (debug != NULL)
-        debug->printf("IRController: Avoidance Task Complete.\r\n");
-}
-
-float
-IRBehaviorController::getPower(void)
-{
-    float tmp;
-    
-    NVIC_DisableIRQ(TIMER3_IRQn);   // Disable Ticker IRQ for atomicity
-    tmp = output;
-    NVIC_EnableIRQ(TIMER3_IRQn);    // Enable Ticker IRQ
-    
-    return tmp;
-}
-
-void
-IRBehaviorController::dumpDebug(Serial *debug)
-{
-    if (debug != NULL)
-    {
-        debug->printf("IRController: Centeroid  = %3.2f\r\n", centeroid);
-        debug->printf("IRController: Brightness = %3.2f\r\n", brightness);
-        debug->printf("IRController: Power      = %3.2f\r\n", output);
-    }   
-}
-
-// Private methods
-
-void
-IRBehaviorController::scanIR(void)
-{
-    if (debug != NULL)
-        debug->printf("IRController: Scanning IR.\r\n");
-    
-    ird.scan();
-    
-    centeroid  = ird.get_centeroid();
-    brightness = ird.get_weighted_avg_brightness();
-    
-    if (debug != NULL)
-    {
-        debug->printf("IRController: Scan complete.\r\n");
-        debug->printf("IRController: Centeroid  = %3.2f\r\n", centeroid);
-        debug->printf("IRController: Brightness = %3.2f\r\n", brightness);
-    }   
+#include "mbed.h"
+
+#include "IRBehaviorController.h"
+
+
+// Public methods
+
+void
+IRBehaviorController::setActiveThreshold(float threshold)
+{
+    NVIC_DisableIRQ(TIMER3_IRQn);   // Disable Ticker IRQ for atomicity
+    activationThreshold = threshold;
+    NVIC_EnableIRQ(TIMER3_IRQn);    // Enable Ticker IRQ
+}
+
+
+void
+IRBehaviorController::runSeeking(void)
+{
+    if (debug != NULL)
+        debug->printf("IRController: Seeking Task Start.\r\n");
+    
+    scanIR();
+
+    if (brightness > activationThreshold)
+        output = pid->run(centeroid);
+    else
+        output = 0;
+    
+    if (debug != NULL)
+        debug->printf("IRController: Seeking Task Complete.\r\n");
+}
+
+void
+IRBehaviorController::runAvoidance(void)
+{
+    if (debug != NULL)
+        debug->printf("IRController: Avoidance Task Start.\r\n");
+    
+    scanIR();
+
+    // Centeroid value needs to be split for avoidance mode.
+    if (centeroid < 0)
+        centeroid += 3;
+    else
+        centeroid -=3;
+        
+    if (brightness > activationThreshold)
+        output = pid->run(centeroid);    
+    else
+        output = 0;
+    
+    if (debug != NULL)
+        debug->printf("IRController: Avoidance Task Complete.\r\n");
+}
+
+float
+IRBehaviorController::getPower(void)
+{
+    float tmp;
+    
+    NVIC_DisableIRQ(TIMER3_IRQn);   // Disable Ticker IRQ for atomicity
+    tmp = output;
+    NVIC_EnableIRQ(TIMER3_IRQn);    // Enable Ticker IRQ
+    
+    return tmp;
+}
+
+void
+IRBehaviorController::dumpDebug(Serial *debug)
+{
+    if (debug != NULL)
+    {
+        debug->printf("IRController: Centeroid  = %3.2f\r\n", centeroid);
+        debug->printf("IRController: Brightness = %3.2f\r\n", brightness);
+        debug->printf("IRController: Power      = %3.2f\r\n", output);
+    }   
+}
+
+// Private methods
+
+void
+IRBehaviorController::scanIR(void)
+{
+    if (debug != NULL)
+        debug->printf("IRController: Scanning IR.\r\n");
+    
+    ird.scan();
+    
+    centeroid  = ird.get_centeroid();
+    brightness = ird.get_weighted_avg_brightness();
+    
+    if (debug != NULL)
+    {
+        debug->printf("IRController: Scan complete.\r\n");
+        debug->printf("IRController: Centeroid  = %3.2f\r\n", centeroid);
+        debug->printf("IRController: Brightness = %3.2f\r\n", brightness);
+    }   
 }
\ No newline at end of file