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Revision 0:2623af9e8ef3, committed 2014-02-18
- Comitter:
- blu12758
- Date:
- Tue Feb 18 04:14:48 2014 +0000
- Child:
- 1:c319e24af8df
- Commit message:
- First commit
Changed in this revision
LineFollower.cpp | Show annotated file Show diff for this revision Revisions of this file |
LineFollower.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LineFollower.cpp Tue Feb 18 04:14:48 2014 +0000 @@ -0,0 +1,44 @@ +#include "LineFollower.h" +#include "mbed.h" +#include <stdint.h> + + /** Create a Line Follower interface for an IR Sensor Array + * + * @param ir1 IR Sensor 1 + * @param ir2 IR Sensor 2 + * @param ir3 IR Sensor 3 + * @param ir4 IR Sensor 4 + * @param ir5 IR Sensor 5 + * @param ir6 IR Sensor 6 + * @param ir7 IR Sensor 7 + * @param ir8 IR Sensor 8 + */ + LineFollower::Linefollower(DigitalIn ir1, DigitalIn ir2, DigitalIn ir3, DigitalIn ir4, + DigitalIn ir5, DigitalIn ir6, DigitalIn ir7, DigitalIn ir8): + _ir1(ir1), _ir2(ir2), _ir3(ir3), _ir4(ir4), _ir5(ir5), _ir6(ir6), + _ir7(ir7), _ir8(ir8){ + + } + + + /** Read the value of a LineFollower object + * + * @return The value of the Sensor + */ + uint8_t LineFollower::read(){ + uint8_t binary = 0; + + array[0] = _ir1; + array[1] = _ir2; + array[2] = _ir3; + array[3] = _ir4; + array[4] = _ir5; + array[5] = _ir6; + array[6] = _ir7; + array[7] = _ir8; + + for(int i=0; i<=8; i++){ + binary += array[i] + } + + } \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LineFollower.h Tue Feb 18 04:14:48 2014 +0000 @@ -0,0 +1,48 @@ +#include "mbed.h" +#include <stdint.h> + +#ifndef MBED_LINEFOLLOWER_H +#define MBED_LINEFOLLOWER_H + +class LineFollower{ + + public: + /** Create a Line Follower interface for an IR Sensor Array + * + * @param ir1 IR Sensor 1 + * @param ir2 IR Sensor 2 + * @param ir3 IR Sensor 3 + * @param ir4 IR Sensor 4 + * @param ir5 IR Sensor 5 + * @param ir6 IR Sensor 6 + * @param ir7 IR Sensor 7 + * @param ir8 IR Sensor 8 + */ + Linefollower(DigitalIn ir1, DigitalIn ir2, DigitalIn ir3, DigitalIn ir4, + DigitalIn ir5, DigitalIn ir6, DigitalIn ir7, DigitalIn ir8); + + + /** Read the value of a LineFollower object + * + * @return The value of the Sensor + */ + uint8_t read(); + + protected: + + #define ROTATE_SPEED 100 + #define MAXSPEED 200 + int array[8] {0,0,0,0,0,0,0,0}; + DigitalIn _ir1; + DigitalIn _ir2; + DigitalIn _ir3; + DigitalIn _ir4; + DigitalIn _ir5; + DigitalIn _ir6; + DigitalIn _ir7; + DigitalIn _ir8; + + +}; + +#endif \ No newline at end of file