forked from StopPointTeam/TaiChi
134 lines
3.4 KiB
C++
134 lines
3.4 KiB
C++
#include <Arduino.h>
|
|
|
|
#include "sensorTaiChi.h"
|
|
|
|
|
|
Sensor::Sensor()
|
|
{
|
|
pinMode(BUTTON_1_OUT, INPUT);
|
|
pinMode(BUTTON_2_OUT, INPUT);
|
|
|
|
pinMode(GRAY_1_VCC, OUTPUT);
|
|
digitalWrite(GRAY_1_VCC, HIGH);
|
|
|
|
pinMode(GRAY_2_VCC, OUTPUT);
|
|
digitalWrite(GRAY_2_VCC, HIGH);
|
|
|
|
pinMode(GRAY_3_VCC, OUTPUT);
|
|
digitalWrite(GRAY_3_VCC, HIGH);
|
|
|
|
pinMode(GRAY_4_VCC, OUTPUT);
|
|
digitalWrite(GRAY_4_VCC, HIGH);
|
|
|
|
pinMode(GRAY_5_VCC, OUTPUT);
|
|
digitalWrite(GRAY_5_VCC, HIGH);
|
|
|
|
pinMode(GRAY_6_VCC, OUTPUT);
|
|
digitalWrite(GRAY_6_VCC, HIGH);
|
|
|
|
pinMode(BUTTON_1_VCC, OUTPUT);
|
|
digitalWrite(BUTTON_1_VCC, HIGH);
|
|
|
|
pinMode(BUTTON_2_VCC, OUTPUT);
|
|
digitalWrite(BUTTON_2_VCC, HIGH);
|
|
}
|
|
|
|
|
|
//使灰度传感器闪烁
|
|
void Sensor::FlashGraySensor(uint8_t gray_sensor_num)
|
|
{
|
|
switch (gray_sensor_num)
|
|
{
|
|
case GRAY_1: digitalWrite(GRAY_1_VCC, LOW); break;
|
|
case GRAY_2: digitalWrite(GRAY_2_VCC, LOW); break;
|
|
case GRAY_3: digitalWrite(GRAY_3_VCC, LOW); break;
|
|
case GRAY_4: digitalWrite(GRAY_4_VCC, LOW); break;
|
|
case GRAY_5: digitalWrite(GRAY_5_VCC, LOW); break;
|
|
case GRAY_6: digitalWrite(GRAY_6_VCC, LOW);
|
|
}
|
|
|
|
#ifdef SENSOR_DEBUG
|
|
//调试输出闪烁信息
|
|
switch (gray_sensor_num)
|
|
{
|
|
case GRAY_1: Serial.println("#SENSOR: FLASH GRAY_1 NOW!"); break;
|
|
case GRAY_2: Serial.println("#SENSOR: FLASH GRAY_2 NOW!"); break;
|
|
case GRAY_3: Serial.println("#SENSOR: FLASH GRAY_3 NOW!"); break;
|
|
case GRAY_4: Serial.println("#SENSOR: FLASH GRAY_4 NOW!"); break;
|
|
case GRAY_5: Serial.println("#SENSOR: FLASH GRAY_5 NOW!"); break;
|
|
case GRAY_6: Serial.println("#SENSOR: FLASH GRAY_6 NOW!");
|
|
}
|
|
#endif
|
|
|
|
delay(GRAY_FLASH_TIME);
|
|
Sensor();
|
|
delay(GRAY_FLASH_TIME);
|
|
}
|
|
|
|
|
|
//灰度传感器判断下方是否为白色
|
|
bool Sensor::IsWhite(uint8_t gray_sensor_num)
|
|
{
|
|
uint8_t gray_out_pin;
|
|
int gray_val;
|
|
|
|
switch (gray_sensor_num)
|
|
{
|
|
case GRAY_1: gray_out_pin = GRAY_1_OUT; break;
|
|
case GRAY_2: gray_out_pin = GRAY_2_OUT; break;
|
|
case GRAY_3: gray_out_pin = GRAY_3_OUT; break;
|
|
case GRAY_4: gray_out_pin = GRAY_4_OUT; break;
|
|
case GRAY_5: gray_out_pin = GRAY_5_OUT; break;
|
|
case GRAY_6: gray_out_pin = GRAY_6_OUT;
|
|
}
|
|
|
|
gray_val = analogRead(gray_out_pin);
|
|
|
|
#ifdef SENSOR_DEBUG
|
|
//调试输出灰度值
|
|
switch (gray_sensor_num)
|
|
{
|
|
case GRAY_1: Serial.print("#SENSOR: GRAY_1: "); break;
|
|
case GRAY_2: Serial.print("#SENSOR: GRAY_2: "); break;
|
|
case GRAY_3: Serial.print("#SENSOR: GRAY_3: "); break;
|
|
case GRAY_4: Serial.print("#SENSOR: GRAY_4: "); break;
|
|
case GRAY_5: Serial.print("#SENSOR: GRAY_5: "); break;
|
|
case GRAY_6: Serial.print("#SENSOR: GRAY_6: ");
|
|
}
|
|
|
|
Serial.println(gray_val);
|
|
#endif
|
|
|
|
if (gray_val > GRAY_GATE_VAL)
|
|
return true;
|
|
else return false;
|
|
}
|
|
|
|
|
|
//碰撞传感器（开关）判断是否闭合
|
|
bool Sensor::IsPushed(uint8_t button_num)
|
|
{
|
|
uint8_t button_out_pin;
|
|
int button_val;
|
|
|
|
if (button_num == BUTTON_1)
|
|
button_out_pin = BUTTON_1_OUT;
|
|
else button_out_pin = BUTTON_2_OUT;
|
|
|
|
button_val = digitalRead(button_out_pin);
|
|
|
|
#ifdef SENSOR_DEBUG
|
|
//调试输出按钮状态
|
|
if (button_num == BUTTON_1)
|
|
Serial.print("#SENSOR: BUTTON_1: ");
|
|
else Serial.print("#SENSOR: BUTTON_2: ");
|
|
|
|
if (button_val == LOW)
|
|
Serial.println("pushed");
|
|
else Serial.println("released");
|
|
#endif
|
|
|
|
if (button_val == LOW)
|
|
return true;
|
|
else return false;
|
|
} |