Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

sensors.h@6:732aa91eb555, 2017-01-13 (annotated)

Committer:
jah128
Date:
Fri Jan 13 23:16:23 2017 +0000
Revision:
6:732aa91eb555
Parent:
1:a6728adaf7e7 
Updated;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a2dd255c508 1 #ifndef SENSORS_H
jah128 0:8a2dd255c508 2 #define SENSORS_H
jah128 0:8a2dd255c508 3
jah128 1:a6728adaf7e7 4 /**
jah128 1:a6728adaf7e7 5 * The Sensors class contains the functions to read from the robots sensors
jah128 1:a6728adaf7e7 6 */
jah128 0:8a2dd255c508 7 class Sensors
jah128 0:8a2dd255c508 8 {
jah128 0:8a2dd255c508 9 public:
jah128 0:8a2dd255c508 10
jah128 0:8a2dd255c508 11
jah128 0:8a2dd255c508 12 /**
jah128 0:8a2dd255c508 13 * Reads and stores a value from the ADS7830 i2c ADC used for the Sharp distance sensors
jah128 0:8a2dd255c508 14 *
jah128 0:8a2dd255c508 15 * @param channel - The channel to read from (0 to 7)
jah128 0:8a2dd255c508 16 * @return The 8-bit value returned by the ADC
jah128 0:8a2dd255c508 17 */
jah128 0:8a2dd255c508 18 char read_adc_value(char channel);
jah128 0:8a2dd255c508 19
jah128 0:8a2dd255c508 20 /**
jah128 0:8a2dd255c508 21 * Returns the stored value from the last call of read_adc_value
jah128 0:8a2dd255c508 22 *
jah128 0:8a2dd255c508 23 * @param channel - The channel to read from (0 to 7)
jah128 0:8a2dd255c508 24 * @return The stored 8-bit value
jah128 0:8a2dd255c508 25 */
jah128 0:8a2dd255c508 26 char get_adc_value(char channel);
jah128 0:8a2dd255c508 27
jah128 0:8a2dd255c508 28 /**
jah128 0:8a2dd255c508 29 * Starts a ticker which reads and stores the value for each distance sensor at a
jah128 0:8a2dd255c508 30 * frequency defined by SENSOR_TICKER_PERIOD (eg 10Hz)
jah128 0:8a2dd255c508 31 */
jah128 0:8a2dd255c508 32 void start_sensor_ticker(void);
jah128 0:8a2dd255c508 33
jah128 0:8a2dd255c508 34 /**
jah128 0:8a2dd255c508 35 * Reads the next sensor
jah128 0:8a2dd255c508 36 */
jah128 0:8a2dd255c508 37 void sensor_ticker_routine(void);
jah128 0:8a2dd255c508 38 };
jah128 0:8a2dd255c508 39
jah128 0:8a2dd255c508 40
jah128 0:8a2dd255c508 41 #endif