Revision 10:e4dd36148539, committed 2014-02-22

Comitter:

DavidEGrayson

Date:

Sat Feb 22 04:44:44 2014 +0000

Parent:

9:9734347b5756

Child:

11:bd14d512340a

Commit message:

Successfully tested the encoders, printing out a nice bar graph.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/line_sensors.cpp	Sat Feb 22 04:44:44 2014 +0000
@@ -0,0 +1,7 @@
+#include "line_sensors.h"
+
+AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT] = {
+    AnalogIn(p20), // brown wire, left-most sensor
+    AnalogIn(p19), // orange wire, middle sensor
+    AnalogIn(p18), // blue wire, right-most sensor
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/line_sensors.h	Sat Feb 22 04:44:44 2014 +0000
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <mbed.h>
+
+#define LINE_SENSOR_COUNT 3
+
+extern AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT];
\ No newline at end of file

--- a/main.cpp	Sat Feb 22 03:03:37 2014 +0000
+++ b/main.cpp	Sat Feb 22 04:44:44 2014 +0000
@@ -7,7 +7,7 @@
 #include "pc_serial.h"
 #include "test.h"
 
-int main()
+int __attribute__((noreturn)) main()
 {
     pc.baud(115200);
     
@@ -17,7 +17,8 @@
 
     // Test routines
     //testMotors();
-    testEncoders();
+    //testEncoders();
+    testLineSensors();
 
     while(1)
     {

--- a/test.cpp	Sat Feb 22 03:03:37 2014 +0000
+++ b/test.cpp	Sat Feb 22 04:44:44 2014 +0000
@@ -8,11 +8,42 @@
 #include "leds.h"
 #include "encoders.h"
 #include "pc_serial.h"
+#include "line_sensors.h"
+
+void printBar(const char * name, uint16_t adcResult);
+
+void testLineSensors()
+{
+    led1 = 1;
+    Pacer reportPacer(100000);
+    bool const printBarGraph = true;
+    while (1)
+    {
+        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);
+            }
+            else
+            {
+                pc.printf("%8d %8d %8d\n", left, middle, right);
+            }
+        }
+    }
+}
 
 void testEncoders()
 {
     Pacer reportPacer(500000);
-    Pacer blinkPacer(200000);
+    led1 = 1;
     while(1)
     {
         while(encoderBuffer.hasEvents())
@@ -25,12 +56,7 @@
             led2 = 1;
             pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount());
             led2 = 0;
-        }
-        
-        if (blinkPacer.pace())
-        {
-            led1 = !led1;
-        }
+       }
     }
 }
 
@@ -66,4 +92,15 @@
         motorsSpeedSet(1200, 1200);
         wait(2);
     }
+}
+
+void printBar(const char * name, uint16_t adcResult)
+{
+    pc.printf("%-2s %5d |", name, adcResult);
+    uint8_t width = adcResult >> 10;
+    uint8_t i;
+    for(i = 0; i < width; i++){ pc.putc('#'); }
+    for(; i < 63; i++){ pc.putc(' '); }
+    pc.putc('|');
+    pc.putc('\n');
 }
\ No newline at end of file

--- a/test.h	Sat Feb 22 03:03:37 2014 +0000
+++ b/test.h	Sat Feb 22 04:44:44 2014 +0000
@@ -1,4 +1,5 @@
 #pragma once
 
-void testEncoders();
-void testMotors();
\ No newline at end of file
+void __attribute__((noreturn)) testEncoders();
+void __attribute__((noreturn)) testMotors();
+void __attribute__((noreturn)) testLineSensors();
\ No newline at end of file