File content as of revision 0:a11da93ea3f6:

/* wallbot mini Library
 *
 * wallbotmini.cpp
 *
 * Copyright (c) 2010-2013 jksoft
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

#include "mbed.h"
#include "wallbotmini.h"


wallbotmini::wallbotmini() :  _right(dp2,dp17,dp25) , _left(dp1,dp28,dp26) , _sw(dp24),
							  _statusled(dp13,dp6,dp14,dp18), _sensor1(dp9),_sensor2(dp10),_sensor3(dp11)  {
	_right = 0.0;
    _left = 0.0;
	
	_statusled = 0;
}

void wallbotmini::left_motor (float speed) {
    _left = speed;
}

void wallbotmini::right_motor (float speed) {
    _right = speed;
}

void wallbotmini::forward (float speed) {
    _left = speed;
	_right = speed;
}

void wallbotmini::backward (float speed) {
    _left = -1.0*speed;
	_right = -1.0*speed;
}

void wallbotmini::left (float speed) {
    _left = -1.0*speed;
	_right = speed;
}

void wallbotmini::right (float speed) {
    _left = speed;
	_right = -1.0*speed;
}

void wallbotmini::stop (void) {
    _right = 0.0;
    _left = 0.0;
}

void wallbotmini::set_led(int bit) {
	_statusled = bit;
}

void wallbotmini::sensor_calibrate(void) {

			   
	for(int i = 0 ; i < 3 ; i++)
	{
		_sensor_def[i] = 0;
	}

	for(int j = 0 ; j < 12 ; j++)
	{
		int in[3] = { _sensor1.read_u16(),
					 _sensor2.read_u16(),
					 _sensor3.read_u16()
				   };
		set_led(1<<(j%4));
		for(int i = 0 ; i < 3 ; i++)
		{
			_sensor_def[i] += in[i];
		}
		wait_ms(200);
	}
	for(int i = 0 ; i < 3 ; i++)
	{
		_sensor_def[i] /= 12;
	}
	set_led(0);
}

int wallbotmini::GetLinePosition(void) {
	int in[3] = { _sensor1.read_u16(),
				 _sensor2.read_u16(),
				 _sensor3.read_u16()
			   };
	int stat = 0;
	
//	printf("ad[0]:%05d ad[1]:%05d ad[2]:%05d \n\r",in[0],in[1],in[2]);
	
	for(int i = 0 ; i < 3 ; i++)
	{		
		if( (in[i] > (_sensor_def[i] + SENSOR_VAL_WIDTH))
		  ||(in[i] < (_sensor_def[i] - SENSOR_VAL_WIDTH)) )
		{
			stat |= 1 << i;
		}
	}
    
    return(stat);
}


int wallbotmini::GetSw(void) {
	return(!_sw);
}