Revision 0:a0e9db1628f1, committed 2020-11-16

Comitter:

yeongsookim

Date:

Mon Nov 16 22:37:13 2020 +0000

Commit message:

Init commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor/LaneSensor.cpp	Mon Nov 16 22:37:13 2020 +0000
@@ -0,0 +1,61 @@
+#include "LaneSensor.h"
+
+LaneSensor::LaneSensor(PinName lll,PinName ll,PinName l,PinName m,PinName r,PinName rr,PinName rrr)
+    : sensorsIn_(lll,ll,l,m,r,rr,rrr)
+{
+    error_=0.0;
+    prevError_=0.0;
+    //sensorsIn_.mode(PullNode);
+}
+float LaneSensor::getError()
+{
+    float errorSum=0;
+    int errorCount=0;
+    float errorConstant =22.86;
+
+    int sensorIn=sensorsIn_ & sensorsIn_.mask();
+    if((sensorIn&0x1)==0x0) {
+        errorSum+=errorConstant*3.0;
+        errorCount++;
+    }
+    if((sensorIn&0x2)==0x0) {
+        errorSum+=errorConstant*2.0;
+        errorCount++;
+    }
+    if((sensorIn&0x4)==0x0) {
+        errorSum+=errorConstant*0.7;
+        errorCount++;
+    }
+    if((sensorIn&0x8)==0x0) {
+        errorSum+=0.0;
+        errorCount++;
+    }
+    if((sensorIn&0x10)==0x0) {
+        errorSum+=errorConstant*-0.7;
+        errorCount++;
+    }
+    if((sensorIn&0x20)==0x0) {
+        errorSum+=errorConstant*-2.0;
+        errorCount++;
+    }
+    if((sensorIn&0x40)==0x0) {
+        errorSum+=errorConstant*-3.0;
+        errorCount++;
+    }
+
+
+    if(errorCount==0) {
+        error_=prevError_;
+    } else {
+        error_=errorSum/((float)errorCount);
+    }
+    prevError_=error_;
+
+    return error_;
+}
+
+int LaneSensor::getData()
+{
+
+    return sensorsIn_ & sensorsIn_.mask();;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor/LaneSensor.h	Mon Nov 16 22:37:13 2020 +0000
@@ -0,0 +1,21 @@
+#ifndef MBED_LANESENSOR_H
+#define MBED_LANESENSOR_H
+
+#include "mbed.h"
+
+
+
+
+class LaneSensor
+{
+public:
+    LaneSensor(PinName lll,PinName ll,PinName l,PinName m,PinName r,PinName rr,PinName rrr);
+    float getError();
+    int getData();
+
+protected:
+    float error_,prevError_;
+    BusIn  sensorsIn_;
+};
+
+#endif //MBED_DISTANCESENSOR_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 16 22:37:13 2020 +0000
@@ -0,0 +1,40 @@
+#include "mbed.h"
+#include "LaneSensor.h"
+
+//To plot with usb, set as below.
+Serial pc(USBTX,USBRX); // Tx, Rx Pin
+
+//Set each gpio to see the output of the hall sensor as a led
+LaneSensor laneSensor(p11,p12,p13,p14,p15,p16,p17);
+
+//Interrupt is generated every 1ms and count is increased by 1
+unsigned int uiFlag_1ms = 0;
+unsigned int uiFlag_50ms = 0;
+
+void counter_1ms ()
+{
+    uiFlag_1ms++;
+    uiFlag_50ms++;
+}
+
+int main()
+{
+    wait(1);
+
+    ////Set the 1ms thicker.
+    Ticker ticker_1ms;
+    ticker_1ms.attach(&counter_1ms, 0.001);
+    
+
+    while(1) 
+    {
+        // Every 50 ms,
+        if(uiFlag_50ms >= 50) {
+            uiFlag_50ms = 0;
+            
+            int data = laneSensor.getData();
+            float error = laneSensor.getError();
+            pc.printf ("data: %d, error: %f \r\n", data, error);
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Nov 16 22:37:13 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file