Yuxiang Yang
Dependents: controller_with_imu controller_with_autostop ros_openroach
TSL1401CL.h@0:57ff45e3cb20, 2017-05-30 (annotated)
- Committer:
- yxyang
- Date:
- Tue May 30 06:41:58 2017 +0000
- Revision:
- 0:57ff45e3cb20
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| yxyang | 0:57ff45e3cb20 | 1 | /* |
| yxyang | 0:57ff45e3cb20 | 2 | * An mbed library for the TSL1401CL line sensor. |
| yxyang | 0:57ff45e3cb20 | 3 | * Author: Galen Savidge |
| yxyang | 0:57ff45e3cb20 | 4 | */ |
| yxyang | 0:57ff45e3cb20 | 5 | |
| yxyang | 0:57ff45e3cb20 | 6 | #ifndef TSL1401CLh |
| yxyang | 0:57ff45e3cb20 | 7 | #define TSL1401CLh |
| yxyang | 0:57ff45e3cb20 | 8 | |
| yxyang | 0:57ff45e3cb20 | 9 | #include "mbed.h" |
| yxyang | 0:57ff45e3cb20 | 10 | |
| yxyang | 0:57ff45e3cb20 | 11 | #define TSL1401CL_PIXEL_COUNT 128 |
| yxyang | 0:57ff45e3cb20 | 12 | |
| yxyang | 0:57ff45e3cb20 | 13 | class TSL1401CL |
| yxyang | 0:57ff45e3cb20 | 14 | { |
| yxyang | 0:57ff45e3cb20 | 15 | public: |
| yxyang | 0:57ff45e3cb20 | 16 | /** |
| yxyang | 0:57ff45e3cb20 | 17 | * Parameters: binary pin connected to clock, binary pin connected to serial- |
| yxyang | 0:57ff45e3cb20 | 18 | * input (SI), adc pin connected to analog out (AO) |
| yxyang | 0:57ff45e3cb20 | 19 | */ |
| yxyang | 0:57ff45e3cb20 | 20 | TSL1401CL(PinName pin_clk, PinName pin_si, PinName pin_adc); |
| yxyang | 0:57ff45e3cb20 | 21 | |
| yxyang | 0:57ff45e3cb20 | 22 | /** |
| yxyang | 0:57ff45e3cb20 | 23 | * Returns whether enough time has passsed for integration to complete. The |
| yxyang | 0:57ff45e3cb20 | 24 | * sensor should not be read until integrationReady() returns true. |
| yxyang | 0:57ff45e3cb20 | 25 | */ |
| yxyang | 0:57ff45e3cb20 | 26 | bool integrationReady(); |
| yxyang | 0:57ff45e3cb20 | 27 | |
| yxyang | 0:57ff45e3cb20 | 28 | /** |
| yxyang | 0:57ff45e3cb20 | 29 | * Reads from the sensor into private data storage. |
| yxyang | 0:57ff45e3cb20 | 30 | */ |
| yxyang | 0:57ff45e3cb20 | 31 | void read(); |
| yxyang | 0:57ff45e3cb20 | 32 | |
| yxyang | 0:57ff45e3cb20 | 33 | /** |
| yxyang | 0:57ff45e3cb20 | 34 | * Sets the integration time of the sensor in microseconds. Can be called mid |
| yxyang | 0:57ff45e3cb20 | 35 | * integration. |
| yxyang | 0:57ff45e3cb20 | 36 | */ |
| yxyang | 0:57ff45e3cb20 | 37 | void setIntegrationTime(uint32_t int_time_desired); |
| yxyang | 0:57ff45e3cb20 | 38 | |
| yxyang | 0:57ff45e3cb20 | 39 | /** |
| yxyang | 0:57ff45e3cb20 | 40 | * Returns the dark-to-light edge of a line as an int between 0 and cam |
| yxyang | 0:57ff45e3cb20 | 41 | * resolution. Returns -1 when no line is found. Use higher precision value |
| yxyang | 0:57ff45e3cb20 | 42 | * for fewer samples, default is 1 (lowest, most precise). Ignores |
| yxyang | 0:57ff45e3cb20 | 43 | * crop_amount pixels on beginning/end of data. Set invert to true to instead |
| yxyang | 0:57ff45e3cb20 | 44 | * return the light-to-dark line edge (if found). |
| yxyang | 0:57ff45e3cb20 | 45 | */ |
| yxyang | 0:57ff45e3cb20 | 46 | int findLineEdge (uint16_t threshold, uint8_t precision = 1, |
| yxyang | 0:57ff45e3cb20 | 47 | size_t crop_amount = 0, bool invert = false); |
| yxyang | 0:57ff45e3cb20 | 48 | |
| yxyang | 0:57ff45e3cb20 | 49 | /** |
| yxyang | 0:57ff45e3cb20 | 50 | * Like FindLineEdge, but finds both edges of the line and returns their |
| yxyang | 0:57ff45e3cb20 | 51 | * midpoint. Returns -1 if either edge is not found. |
| yxyang | 0:57ff45e3cb20 | 52 | */ |
| yxyang | 0:57ff45e3cb20 | 53 | int findLineCenter (uint16_t threshold, uint8_t precision = 1, |
| yxyang | 0:57ff45e3cb20 | 54 | size_t crop_amount = 0); |
| yxyang | 0:57ff45e3cb20 | 55 | |
| yxyang | 0:57ff45e3cb20 | 56 | /** |
| yxyang | 0:57ff45e3cb20 | 57 | * Returns the value of the sensor's last read data at a specified index. |
| yxyang | 0:57ff45e3cb20 | 58 | */ |
| yxyang | 0:57ff45e3cb20 | 59 | uint32_t getData(uint8_t index); |
| yxyang | 0:57ff45e3cb20 | 60 | protected: |
| yxyang | 0:57ff45e3cb20 | 61 | DigitalOut clk; |
| yxyang | 0:57ff45e3cb20 | 62 | DigitalOut si; |
| yxyang | 0:57ff45e3cb20 | 63 | AnalogIn adc; |
| yxyang | 0:57ff45e3cb20 | 64 | |
| yxyang | 0:57ff45e3cb20 | 65 | uint32_t data[TSL1401CL_PIXEL_COUNT]; |
| yxyang | 0:57ff45e3cb20 | 66 | uint32_t integration_time; |
| yxyang | 0:57ff45e3cb20 | 67 | Timer integration_timer; |
| yxyang | 0:57ff45e3cb20 | 68 | }; |
| yxyang | 0:57ff45e3cb20 | 69 | |
| yxyang | 0:57ff45e3cb20 | 70 | #endif |