PiSlingers library for AHRC competitions
Beacon.h@2:a9351d7f92b4, 2012-11-03 (annotated)
- Committer:
- mpanetta
- Date:
- Sat Nov 03 01:03:16 2012 +0000
- Revision:
- 2:a9351d7f92b4
- Parent:
- 1:695f4f4442d3
Fixed some bugs in the IR code that allowed negative values through.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mpanetta | 0:d4427d048a98 | 1 | #ifndef _BEACON_H_ |
mpanetta | 0:d4427d048a98 | 2 | #define _BEACON_H_ |
mpanetta | 0:d4427d048a98 | 3 | |
mpanetta | 0:d4427d048a98 | 4 | #include "mbed.h" |
mpanetta | 2:a9351d7f92b4 | 5 | #include "MODSERIAL.h" |
mpanetta | 0:d4427d048a98 | 6 | |
mpanetta | 0:d4427d048a98 | 7 | class Beacon |
mpanetta | 0:d4427d048a98 | 8 | { |
mpanetta | 0:d4427d048a98 | 9 | public: |
mpanetta | 2:a9351d7f92b4 | 10 | Beacon(void) : ainL(p16), ainR(p17) |
mpanetta | 2:a9351d7f92b4 | 11 | { |
mpanetta | 2:a9351d7f92b4 | 12 | offsL = 0; |
mpanetta | 2:a9351d7f92b4 | 13 | gainL = 1; |
mpanetta | 2:a9351d7f92b4 | 14 | offsR = 0; |
mpanetta | 2:a9351d7f92b4 | 15 | gainR = 1; |
mpanetta | 2:a9351d7f92b4 | 16 | }; |
mpanetta | 0:d4427d048a98 | 17 | |
mpanetta | 0:d4427d048a98 | 18 | void scan(void); |
mpanetta | 2:a9351d7f92b4 | 19 | void calibrate(MODSERIAL * debug); |
mpanetta | 2:a9351d7f92b4 | 20 | uint16_t get_max_rssi(void); |
mpanetta | 0:d4427d048a98 | 21 | float get_centeroid(void); |
mpanetta | 0:d4427d048a98 | 22 | |
mpanetta | 2:a9351d7f92b4 | 23 | uint16_t getL(void); |
mpanetta | 2:a9351d7f92b4 | 24 | uint16_t getR(void); |
mpanetta | 0:d4427d048a98 | 25 | |
mpanetta | 0:d4427d048a98 | 26 | private: |
mpanetta | 2:a9351d7f92b4 | 27 | uint16_t readAndAverageL(int times); |
mpanetta | 2:a9351d7f92b4 | 28 | uint16_t readAndAverageR(int times); |
mpanetta | 2:a9351d7f92b4 | 29 | |
mpanetta | 0:d4427d048a98 | 30 | void calc_centeroid(void); |
mpanetta | 0:d4427d048a98 | 31 | |
mpanetta | 0:d4427d048a98 | 32 | AnalogIn ainL; |
mpanetta | 0:d4427d048a98 | 33 | AnalogIn ainR; |
mpanetta | 0:d4427d048a98 | 34 | |
mpanetta | 2:a9351d7f92b4 | 35 | uint16_t valL; |
mpanetta | 2:a9351d7f92b4 | 36 | uint16_t valR; |
mpanetta | 0:d4427d048a98 | 37 | |
mpanetta | 2:a9351d7f92b4 | 38 | int32_t offsL; |
mpanetta | 2:a9351d7f92b4 | 39 | int32_t gainL; |
mpanetta | 2:a9351d7f92b4 | 40 | int32_t offsR; |
mpanetta | 2:a9351d7f92b4 | 41 | int32_t gainR; |
mpanetta | 2:a9351d7f92b4 | 42 | |
mpanetta | 2:a9351d7f92b4 | 43 | uint16_t max; |
mpanetta | 0:d4427d048a98 | 44 | float centeroid; |
mpanetta | 0:d4427d048a98 | 45 | |
mpanetta | 0:d4427d048a98 | 46 | }; |
mpanetta | 0:d4427d048a98 | 47 | |
mpanetta | 0:d4427d048a98 | 48 | #endif //_BEACON_H_ |