Yeongsoo Kim / Mbed 2 deprecated Mecha_Lane_Sensor

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Dependencies:   mbed

Sensor/LaneSensor.cpp@0:a0e9db1628f1, 2020-11-16 (annotated)

Committer:
yeongsookim
Date:
Mon Nov 16 22:37:13 2020 +0000
Revision:
0:a0e9db1628f1
Init commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yeongsookim 0:a0e9db1628f1 1 #include "LaneSensor.h"
yeongsookim 0:a0e9db1628f1 2
yeongsookim 0:a0e9db1628f1 3 LaneSensor::LaneSensor(PinName lll,PinName ll,PinName l,PinName m,PinName r,PinName rr,PinName rrr)
yeongsookim 0:a0e9db1628f1 4 : sensorsIn_(lll,ll,l,m,r,rr,rrr)
yeongsookim 0:a0e9db1628f1 5 {
yeongsookim 0:a0e9db1628f1 6 error_=0.0;
yeongsookim 0:a0e9db1628f1 7 prevError_=0.0;
yeongsookim 0:a0e9db1628f1 8 //sensorsIn_.mode(PullNode);
yeongsookim 0:a0e9db1628f1 9 }
yeongsookim 0:a0e9db1628f1 10 float LaneSensor::getError()
yeongsookim 0:a0e9db1628f1 11 {
yeongsookim 0:a0e9db1628f1 12 float errorSum=0;
yeongsookim 0:a0e9db1628f1 13 int errorCount=0;
yeongsookim 0:a0e9db1628f1 14 float errorConstant =22.86;
yeongsookim 0:a0e9db1628f1 15
yeongsookim 0:a0e9db1628f1 16 int sensorIn=sensorsIn_ & sensorsIn_.mask();
yeongsookim 0:a0e9db1628f1 17 if((sensorIn&0x1)==0x0) {
yeongsookim 0:a0e9db1628f1 18 errorSum+=errorConstant*3.0;
yeongsookim 0:a0e9db1628f1 19 errorCount++;
yeongsookim 0:a0e9db1628f1 20 }
yeongsookim 0:a0e9db1628f1 21 if((sensorIn&0x2)==0x0) {
yeongsookim 0:a0e9db1628f1 22 errorSum+=errorConstant*2.0;
yeongsookim 0:a0e9db1628f1 23 errorCount++;
yeongsookim 0:a0e9db1628f1 24 }
yeongsookim 0:a0e9db1628f1 25 if((sensorIn&0x4)==0x0) {
yeongsookim 0:a0e9db1628f1 26 errorSum+=errorConstant*0.7;
yeongsookim 0:a0e9db1628f1 27 errorCount++;
yeongsookim 0:a0e9db1628f1 28 }
yeongsookim 0:a0e9db1628f1 29 if((sensorIn&0x8)==0x0) {
yeongsookim 0:a0e9db1628f1 30 errorSum+=0.0;
yeongsookim 0:a0e9db1628f1 31 errorCount++;
yeongsookim 0:a0e9db1628f1 32 }
yeongsookim 0:a0e9db1628f1 33 if((sensorIn&0x10)==0x0) {
yeongsookim 0:a0e9db1628f1 34 errorSum+=errorConstant*-0.7;
yeongsookim 0:a0e9db1628f1 35 errorCount++;
yeongsookim 0:a0e9db1628f1 36 }
yeongsookim 0:a0e9db1628f1 37 if((sensorIn&0x20)==0x0) {
yeongsookim 0:a0e9db1628f1 38 errorSum+=errorConstant*-2.0;
yeongsookim 0:a0e9db1628f1 39 errorCount++;
yeongsookim 0:a0e9db1628f1 40 }
yeongsookim 0:a0e9db1628f1 41 if((sensorIn&0x40)==0x0) {
yeongsookim 0:a0e9db1628f1 42 errorSum+=errorConstant*-3.0;
yeongsookim 0:a0e9db1628f1 43 errorCount++;
yeongsookim 0:a0e9db1628f1 44 }
yeongsookim 0:a0e9db1628f1 45
yeongsookim 0:a0e9db1628f1 46
yeongsookim 0:a0e9db1628f1 47 if(errorCount==0) {
yeongsookim 0:a0e9db1628f1 48 error_=prevError_;
yeongsookim 0:a0e9db1628f1 49 } else {
yeongsookim 0:a0e9db1628f1 50 error_=errorSum/((float)errorCount);
yeongsookim 0:a0e9db1628f1 51 }
yeongsookim 0:a0e9db1628f1 52 prevError_=error_;
yeongsookim 0:a0e9db1628f1 53
yeongsookim 0:a0e9db1628f1 54 return error_;
yeongsookim 0:a0e9db1628f1 55 }
yeongsookim 0:a0e9db1628f1 56
yeongsookim 0:a0e9db1628f1 57 int LaneSensor::getData()
yeongsookim 0:a0e9db1628f1 58 {
yeongsookim 0:a0e9db1628f1 59
yeongsookim 0:a0e9db1628f1 60 return sensorsIn_ & sensorsIn_.mask();;
yeongsookim 0:a0e9db1628f1 61 }