naoki tanabe / linesSnsor

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Dependents:   2018NHK_gakugaku_robo 2018NHK_gaku_ver2

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Show/hide line numbers lineSensor.h Source File

lineSensor.h

00001 #ifndef LINE_SENSOR
00002 #define LINE_SENSOR
00003 
00004 #include "mbed.h"
00005 
00006 
00007 /**
00008  * ラインセンサ用クラス
00009  */
00010 class lineSensor{
00011 public:
00012     /**
00013      * デフォルトコンストラクタ
00014      */
00015     lineSensor(PinName line_);
00016     
00017     /**
00018     *ラインとの境目の位置
00019     */
00020      void lineborder(float border_);
00021      
00022      
00023     /**
00024     *ラインの判別表示
00025     *1だとライン踏んでいる
00026     *0だとラインを踏んでいない
00027     */
00028     bool getJudgment();
00029     
00030     /**
00031     *センサの値表示
00032     */
00033     float rawlinevalue();
00034 
00035 private:
00036     AnalogIn linevalue;
00037     float line, border;
00038     Ticker assembleTicker;
00039     void lineassemble();
00040 
00041 };
00042 
00043 
00044 
00045 #endif
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