Diff: ir.cpp

Revision:

0:7a97ebb833eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ir.cpp	Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,95 @@
+#include "ir.h"
+#include "pins.h"
+#include "globals.h"
+
+AnalogIn rec_RF(DET_Rfront);
+AnalogIn rec_LF(DET_Lfront);
+//AnalogIn rec_RS(DET_Rside);
+//AnalogIn rec_LS(DET_Lside);
+
+DigitalOut ir_RF(IR_Rfront);
+DigitalOut ir_LF(IR_Lfront);
+//DigitalOut ir_RS(IR_Rside);
+//DigitalOut ir_LS(IR_Lside);
+
+
+///////
+// IR class implementation
+///////
+
+IR::IR() {
+    m_rf = 0;
+    m_lf = 0;
+    m_rs = 0;
+    m_ls = 0;
+}
+
+/***
+ * Assignment 4 START
+ ***/
+
+/***
+ * Properly turn the IR's on, warm up receiver for WARM_UP_US,
+ * read the value, cool down receivers for COOL_DOWN_US,
+ * then turn off.
+ ***/
+float IR::flash_ir(DigitalOut ir, AnalogIn rec) volatile {
+    ir = 1;
+    wait_us(WARM_UP_US);
+    float ret = read_ir(rec);
+    ir = 0;
+    wait_us(COOL_DOWN_US);
+    
+    return ret;
+}
+
+float IR::RS_error() volatile {
+    // TODO
+
+    if (RS() > MIDR) {
+        //return RS_base() - RS();
+        return 0;
+    }
+    else return 0;
+}
+
+float IR::LS_error() volatile {
+    // TODO
+
+    if (LS() > MIDL) {
+        //return LS() - LS_base();
+        return 0;
+    }
+    else return 0;
+}
+
+float IR::read_ir(AnalogIn rec) volatile {
+    // Read an IR, averaging over 10 reads.
+    int n = 10;
+    float total = 0;
+       
+    for (int i = 0; i < n; i++) {
+        total += rec.read();   
+    }
+    
+    return total / n;
+}
+
+void IR::update() volatile {
+    // Update all your IR readings.
+
+    // Don't do any init because for some reason that doesn't work...
+    m_rf = flash_ir(ir_RF, rec_RF); //- init_rf;
+    m_lf = flash_ir(ir_LF, rec_LF); //- init_lf;
+    
+    //m_rs  = flash_ir(ir_RS, rec_RS); //- init_rs;
+    //m_ls = flash_ir(ir_LS, rec_LS); //- init_ls;
+}
+
+
+void IR::printValues() volatile {
+    // Utility: Use for diagnostics
+
+    pc.printf("RF: %.3f\tLF: %.3f\tRS: %.3f\tLS: %.3f\n",
+        m_rf, m_lf, m_rs, m_ls);
+}
\ No newline at end of file