ColourSensor_H.h

00001 // ColourSensor_H.h
00002 
00003 #ifndef ColourSensor_H
00004 #define ColourSensor_H
00005 
00006 #include "mbed.h"
00007 
00008 // ColourSensor is used to detect the coloured disks and control the Solenoid
00009 /* Attributes:
00010     - Pinouts of sensor inputs and solenoid output
00011 
00012    Methods:
00013     - solenoidSet
00014     - readColSenIf
00015     - readColSenWhich
00016     - colourCheck
00017     - makeColourActive
00018 */
00019 
00020 class ColourSensor {
00021     public:
00022         void solenoidSet(bool state); // Setting solenoid state
00023         void readIf(); // Read 'IF' sensor
00024         void readWhich(); // Read 'WHICH' sensor
00025         void process(); // Colour processing
00026         void initialConditions(); // Sets initial conditions
00027         
00028         DigitalIn inIf;
00029         DigitalIn inWhich;
00030         DigitalOut solenoid;
00031         
00032         int firstLoop;
00033         bool toggleA;
00034         bool toggleB;
00035         bool toggleConst; // Can be used to toggle colour processing
00036         
00037         ColourSensor(PinName pin1, PinName pin2, PinName pin3);
00038         
00039         void makeColourActive();
00040         
00041         
00042     private:
00043         bool detectedIf; // Colour detected? Yes/No -> 1/0
00044         bool detectedIfOld; // Comparison bool
00045         bool newDetection; // Colour newly detected? (i.e. is now but wasn't before?) Yes/No -> 1/0
00046         bool detectedWhich; // Colour detected: Red/Blue -> 1/0
00047         bool diskHave; // Have disk? Yes/No -> 1/0
00048         bool diskColour; // Colour of disk: Red/Blue -> 1/0
00049         
00050         bool solenoidState; // State of solenoid: On/Off -> 1/0
00051         
00052 };
00053 
00054 #endif