Psi Swarm Robot / PsiSwarmV7

Library for the PsiSwarm Robot - Version 0.7

Dependents:   PsiSwarm_V7_Blank

Fork of PsiSwarmLibrary by James Hilder

sensors.h@6:b340a527add9, 2016-10-15 (annotated)

Committer:
jah128
Date:
Sat Oct 15 13:51:39 2016 +0000
Revision:
6:b340a527add9
Parent:
5:3cdd1a37cdd7 
Added Apache license to files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File
jah128 0:d6269d17c8cf 2 *
jah128 6:b340a527add9 3 * Copyright 2016 University of York
jah128 6:b340a527add9 4 *
jah128 6:b340a527add9 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 6:b340a527add9 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 6:b340a527add9 10 *
jah128 0:d6269d17c8cf 11 * File: sensors.h
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 5:3cdd1a37cdd7 16 * PsiSwarm Library Version: 0.7
jah128 0:d6269d17c8cf 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 */
jah128 0:d6269d17c8cf 21
jah128 0:d6269d17c8cf 22 #ifndef SENSORS_H
jah128 0:d6269d17c8cf 23 #define SENSORS_H
jah128 0:d6269d17c8cf 24
jah128 0:d6269d17c8cf 25 float get_battery_voltage ( void );
jah128 0:d6269d17c8cf 26 float get_current ( void );
jah128 0:d6269d17c8cf 27 float get_dc_voltage ( void );
jah128 0:d6269d17c8cf 28
jah128 0:d6269d17c8cf 29 float get_temperature ( void );
jah128 0:d6269d17c8cf 30 void enable_ultrasonic_ticker( void );
jah128 0:d6269d17c8cf 31 void disable_ultrasonic_ticker( void );
jah128 0:d6269d17c8cf 32 void update_ultrasonic_measure ( void );
jah128 0:d6269d17c8cf 33 void IF_read_ultrasonic_measure ( void );
jah128 0:d6269d17c8cf 34 float read_reflected_ir_distance ( char index );
jah128 0:d6269d17c8cf 35 float get_reflected_ir_distance ( char index );
jah128 0:d6269d17c8cf 36 unsigned short get_background_raw_ir_value ( char index );
jah128 0:d6269d17c8cf 37 unsigned short get_illuminated_raw_ir_value ( char index );
jah128 0:d6269d17c8cf 38 void store_reflected_ir_distances ( void );
jah128 0:d6269d17c8cf 39 void store_background_raw_ir_values ( void );
jah128 0:d6269d17c8cf 40 void store_illuminated_raw_ir_values ( void );
jah128 0:d6269d17c8cf 41 float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value );
jah128 0:d6269d17c8cf 42 unsigned short read_illuminated_raw_ir_value ( char index ) ;
jah128 0:d6269d17c8cf 43
jah128 0:d6269d17c8cf 44 unsigned short get_background_base_ir_value ( char index );
jah128 0:d6269d17c8cf 45 unsigned short get_illuminated_base_ir_value ( char index );
jah128 2:c6986ee3c7c5 46 unsigned short calculate_base_ir_value ( char index );
jah128 2:c6986ee3c7c5 47 unsigned short calculate_side_ir_value ( char index );
jah128 0:d6269d17c8cf 48
jah128 0:d6269d17c8cf 49 int get_bearing_from_ir_array ( unsigned short * ir_sensor_readings);
jah128 0:d6269d17c8cf 50 void store_ir_values ( void );
jah128 0:d6269d17c8cf 51 void store_base_ir_values ( void );
jah128 0:d6269d17c8cf 52 void store_background_base_ir_values ( void );
jah128 0:d6269d17c8cf 53 void store_illuminated_base_ir_values ( void );
jah128 0:d6269d17c8cf 54
jah128 0:d6269d17c8cf 55 void store_line_position ( void );
jah128 0:d6269d17c8cf 56 void calibrate_base_ir_sensors ( void );
jah128 0:d6269d17c8cf 57
jah128 0:d6269d17c8cf 58 #endif