Revision 31:739b91331f31, committed 2014-03-04

Comitter:

DavidEGrayson

Date:

Tue Mar 04 03:04:00 2014 +0000

Parent:

30:84be2d602dc0

Child:

32:83a13b06093c

Commit message:

testLineSensors seems to work fine with QTR-3RC.

Changed in this revision

--- a/line_sensors.cpp	Tue Mar 04 02:09:54 2014 +0000
+++ b/line_sensors.cpp	Tue Mar 04 03:04:00 2014 +0000
@@ -1,11 +1,53 @@
 #include "line_sensors.h"
 
+
+/**
 AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT] = {
     AnalogIn(p20), // brown wire, left-most sensor
     AnalogIn(p19), // orange wire, middle sensor
     AnalogIn(p17), // blue wire, right-most sensor
+};  // TODO: remove
+**/
+
+DigitalInOut lineSensorsDigital[LINE_SENSOR_COUNT] = {
+    DigitalInOut(p18), // brown wire, left-most sensor
+    DigitalInOut(p19), // orange wire, middle sensor
+    DigitalInOut(p20), // blue wire, right-most sensor
 };
 
+void readSensors(uint16_t * values)
+{
+    for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
+    {
+        values[i] = 1000;
+        lineSensorsDigital[i].mode(PullNone);
+        lineSensorsDigital[i].output();
+        lineSensorsDigital[i].write(1);
+    }
+    
+    wait_us(10);
+    
+    Timer timer;
+    timer.start();
+
+    for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
+    {
+        lineSensorsDigital[i].input();
+    }
+
+    while(timer.read_us() < 1000)
+    {
+        for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
+        {
+            if (values[i] == 1000 && lineSensorsDigital[i].read() == 0)
+            {
+                values[i] = timer.read_us();   
+            }
+        }
+    }
+}
+
+
 /**
 uint16_t analogReadWithFilter(AnalogIn * input)
 {

--- a/line_sensors.h	Tue Mar 04 02:09:54 2014 +0000
+++ b/line_sensors.h	Tue Mar 04 03:04:00 2014 +0000
@@ -4,6 +4,8 @@
 
 #define LINE_SENSOR_COUNT 3
 
-extern AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT];
+//extern AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT];
 
-uint16_t analogReadWithFilter(AnalogIn * input);
\ No newline at end of file
+uint16_t analogReadWithFilter(AnalogIn * input);
+
+void readSensors(uint16_t * values);
\ No newline at end of file

--- a/line_tracker.cpp	Tue Mar 04 02:09:54 2014 +0000
+++ b/line_tracker.cpp	Tue Mar 04 03:04:00 2014 +0000
@@ -1,10 +1,5 @@
 #include "line_tracker.h"
 
-static uint16_t readSensor(uint8_t index)
-{
-    return lineSensorsAnalog[index].read_u16();
-}
-
 LineTracker::LineTracker()
 {
     for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
@@ -24,10 +19,7 @@
 
 void LineTracker::readRawValues()
 {
-    for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
-    {
-        rawValues[s] = readSensor(s);
-    }
+    readSensors(rawValues);
 }
 
 void LineTracker::updateCalibratedValues()

--- a/main.cpp	Tue Mar 04 02:09:54 2014 +0000
+++ b/main.cpp	Tue Mar 04 03:04:00 2014 +0000
@@ -38,7 +38,7 @@
     // Test routines
     //testMotors();
     //testEncoders();
-    //testLineSensors();
+    testLineSensors();
     //testReckoner();
     //testButtons();
     //testDriveHome();
@@ -46,7 +46,7 @@
     //testCalibrate();
     //testLineFollowing();
     //testAnalog();
-    testSensorGlitches();
+    //testSensorGlitches();
 
     // Real routines for the contest.
     loadCalibration();

--- a/test.cpp	Tue Mar 04 02:09:54 2014 +0000
+++ b/test.cpp	Tue Mar 04 03:04:00 2014 +0000
@@ -48,14 +48,15 @@
 uint16_t readP10()
 {
     DigitalInOut pin(p10);
+    pin.mode(PullNone);
     pin.output();
     pin = 1;
     wait_us(20);
-    uint16_t value = 0x8000;
+    uint16_t value = 1000;
     Timer timer;
     timer.start();
     pin.input();
-    while(timer.read_us() < 0x8000)
+    while(timer.read_us() < 1000)
     {
         if(pin.read() == 0)
         {
@@ -265,25 +266,51 @@
 {
     led1 = 1;
     Pacer reportPacer(100000);
+    Pacer clearStatsPacer(2000000);
+    
+    uint16_t min[LINE_SENSOR_COUNT];
+    uint16_t max[LINE_SENSOR_COUNT];
+    
     bool const printBarGraph = true;
     while (1)
     {
+        if (clearStatsPacer.pace())
+        {
+            for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
+            {
+                min[i] = 0xFFFF;
+                max[i] = 0;
+            }
+        }
+        
+        //values[0] = lineSensorsAnalog[0].read_u16();
+        //values[1] = lineSensorsAnalog[1].read_u16();
+        //values[2] = lineSensorsAnalog[2].read_u16();
+
+        uint16_t values[3];
+        readSensors(values);
+        
+        for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
+        {
+            if (values[i] > max[i]){ max[i] = values[i]; }
+            if (values[i] < min[i]){ min[i] = values[i]; }
+        }
+        
         if (reportPacer.pace())
         {
-            uint16_t left = lineSensorsAnalog[0].read_u16();
-            uint16_t middle = lineSensorsAnalog[1].read_u16();
-            uint16_t right = lineSensorsAnalog[2].read_u16();
-            
             if (printBarGraph)
             {
                 pc.printf("\x1B[0;0H");  // VT100 command for "go to 0,0"
-                printBar("L", left);
-                printBar("M", middle);
-                printBar("R", right);
+                printBar("L", values[0]);
+                printBar("M", values[1]);
+                printBar("R", values[2]);
+                pc.printf("%4d %4d    \r\n", min[0], max[0]);
+                pc.printf("%4d %4d    \r\n", min[1], max[1]);
+                pc.printf("%4d %4d    \r\n", min[2], max[2]);
             }
             else
             {
-                pc.printf("%8d %8d %8d\n", left, middle, right);
+                pc.printf("%8d %8d %8d\r\n", values[0], values[1], values[2]);
             }
         }
     }
@@ -356,7 +383,7 @@
         if(reportPacer.pace())
         {
             led2 = 1;
-            pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount());
+            pc.printf("%8d %8d\r\n", encoderLeft.getCount(), encoderRight.getCount());
             led2 = 0;
        }
     }
@@ -413,13 +440,16 @@
    
 }
 
-void printBar(const char * name, uint16_t adcResult)
+// with should be between 0 and 63
+void printBar(const char * name, uint16_t result)
 {
-    pc.printf("%-2s %5d |", name, adcResult);
-    uint8_t width = adcResult >> 10;
+    pc.printf("%-2s %5d |", name, result);
+    uint16_t width = result >> 4;
+    if (width > 63) { width = 63; }
     uint8_t i;
     for(i = 0; i < width; i++){ pc.putc('#'); }
     for(; i < 63; i++){ pc.putc(' '); }
     pc.putc('|');
+    pc.putc('\r');
     pc.putc('\n');
 }
\ No newline at end of file