forked from StopPointTeam/TaiChi
105 lines
2.2 KiB
C++
105 lines
2.2 KiB
C++
#ifndef SENSORTAICHI_H
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#define SENSORTAICHI_H
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//注释以关闭调试功能
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#define SENSOR_DEBUG
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#ifdef SENSOR_DEBUG
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#define NeoSerialDebug NeoSerial
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#endif
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//灰度传感器 OUT 接口定义
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#define GRAY_1_OUT A0
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#define GRAY_2_OUT A1
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#define GRAY_3_OUT A2
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#define GRAY_4_OUT A3
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#define GRAY_5_OUT A4
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#define GRAY_6_OUT A5
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#define GRAY_7_OUT A6
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//灰度传感器 VCC 接口定义
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#define GRAY_1_VCC 48
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#define GRAY_2_VCC 49
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#define GRAY_3_VCC 50
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#define GRAY_4_VCC 51
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#define GRAY_5_VCC 52
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#define GRAY_6_VCC 53
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#define GRAY_7_VCC 47
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//灰度传感器临界值
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#define DEFAULT_GRAY_1_GATE 900
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#define DEFAULT_GRAY_2_GATE 900
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#define DEFAULT_GRAY_3_GATE 850
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#define DEFAULT_GRAY_4_GATE 850
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#define DEFAULT_GRAY_5_GATE 900
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#define DEFAULT_GRAY_6_GATE 880
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#define DEFAULT_GRAY_7_GATE 690
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//灰度传感器闪烁时间
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#define GRAY_FLASH_TIME 200
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//灰度传感器标识定义
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#define GRAY_1 0
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#define GRAY_2 1
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#define GRAY_3 2
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#define GRAY_4 3
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#define GRAY_5 4
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#define GRAY_6 5
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#define GRAY_7 6
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//开关传感器 OUT 接口定义
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#define BUTTON_1_OUT 2
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#define BUTTON_2_OUT 3
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//开关传感器 VCC 接口定义
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#define BUTTON_1_VCC 45
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#define BUTTON_2_VCC 46
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//开关传感器标识定义
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#define BUTTON_1 0
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#define BUTTON_2 1
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//HMC5883 的 I2C 地址
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#define HMC5883_ADDRESS 0x1E
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class Sensor
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{
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public:
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Sensor();
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//设置灰度传感器临界值
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static void SetGrayGate(uint8_t gray_sensor_num, int gate);
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//使灰度传感器闪烁
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static void FlashGraySensor(uint8_t gray_sensor_num);
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//灰度传感器判断下方是否为白色
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static bool IsWhite(uint8_t gray_sensor_num);
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//灰度传感器灰度值偏离比例，即 (gray_gate - gray_val) / gray_gate
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static float GrayDeviationRate(uint8_t gray_sensor_num);
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//开关判断是否闭合
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static bool IsPushed(uint8_t button_num);
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//开启 HMC5883 的 I2C 通讯
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static void StartHMC5883(void);
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//返回朝向角
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static float GetAngle(void);
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private:
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//灰度传感器临界值
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static int gray_1_gate;
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static int gray_2_gate;
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static int gray_3_gate;
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static int gray_4_gate;
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static int gray_5_gate;
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static int gray_6_gate;
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static int gray_7_gate;
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};
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#endif |