forked from StopPointTeam/TaiChi
268 lines
7.4 KiB
C++
268 lines
7.4 KiB
C++
#include <Arduino.h>
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#include <Wire.h>
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#include "sensorTaiChi.h"
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Sensor::Sensor()
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{
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pinMode(BUTTON_1_OUT, INPUT_PULLUP);
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pinMode(BUTTON_2_OUT, INPUT_PULLUP);
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pinMode(GRAY_1_VCC, OUTPUT);
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digitalWrite(GRAY_1_VCC, HIGH);
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pinMode(GRAY_2_VCC, OUTPUT);
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digitalWrite(GRAY_2_VCC, HIGH);
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pinMode(GRAY_3_VCC, OUTPUT);
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digitalWrite(GRAY_3_VCC, HIGH);
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pinMode(GRAY_4_VCC, OUTPUT);
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digitalWrite(GRAY_4_VCC, HIGH);
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pinMode(GRAY_5_VCC, OUTPUT);
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digitalWrite(GRAY_5_VCC, HIGH);
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pinMode(GRAY_6_VCC, OUTPUT);
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digitalWrite(GRAY_6_VCC, HIGH);
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pinMode(GRAY_7_VCC, OUTPUT);
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digitalWrite(GRAY_7_VCC, HIGH);
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pinMode(BUTTON_1_VCC, OUTPUT);
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digitalWrite(BUTTON_1_VCC, HIGH);
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pinMode(BUTTON_2_VCC, OUTPUT);
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digitalWrite(BUTTON_2_VCC, HIGH);
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//设置灰度值为默认值
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SetGrayGate(GRAY_1, DEFAULT_GRAY_1_GATE);
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SetGrayGate(GRAY_2, DEFAULT_GRAY_2_GATE);
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SetGrayGate(GRAY_3, DEFAULT_GRAY_3_GATE);
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SetGrayGate(GRAY_4, DEFAULT_GRAY_4_GATE);
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SetGrayGate(GRAY_5, DEFAULT_GRAY_5_GATE);
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SetGrayGate(GRAY_6, DEFAULT_GRAY_6_GATE);
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SetGrayGate(GRAY_7, DEFAULT_GRAY_7_GATE);
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}
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//设置灰度传感器临界值
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void Sensor::SetGrayGate(uint8_t gray_sensor_num, int gate)
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{
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switch (gray_sensor_num)
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{
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case GRAY_1: gray_1_gate = gate; break;
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case GRAY_2: gray_2_gate = gate; break;
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case GRAY_3: gray_3_gate = gate; break;
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case GRAY_4: gray_4_gate = gate; break;
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case GRAY_5: gray_5_gate = gate; break;
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case GRAY_6: gray_6_gate = gate; break;
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case GRAY_7: gray_7_gate = gate;
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}
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}
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//使灰度传感器闪烁
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void Sensor::FlashGraySensor(uint8_t gray_sensor_num)
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{
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switch (gray_sensor_num)
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{
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case GRAY_1: digitalWrite(GRAY_1_VCC, LOW); break;
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case GRAY_2: digitalWrite(GRAY_2_VCC, LOW); break;
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case GRAY_3: digitalWrite(GRAY_3_VCC, LOW); break;
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case GRAY_4: digitalWrite(GRAY_4_VCC, LOW); break;
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case GRAY_5: digitalWrite(GRAY_5_VCC, LOW); break;
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case GRAY_6: digitalWrite(GRAY_6_VCC, LOW); break;
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case GRAY_7: digitalWrite(GRAY_7_VCC, LOW);
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}
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#ifdef SENSOR_DEBUG
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//调试输出闪烁信息
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switch (gray_sensor_num)
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{
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case GRAY_1: Serial.println("#SENSOR: FLASH GRAY_1 NOW!"); break;
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case GRAY_2: Serial.println("#SENSOR: FLASH GRAY_2 NOW!"); break;
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case GRAY_3: Serial.println("#SENSOR: FLASH GRAY_3 NOW!"); break;
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case GRAY_4: Serial.println("#SENSOR: FLASH GRAY_4 NOW!"); break;
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case GRAY_5: Serial.println("#SENSOR: FLASH GRAY_5 NOW!"); break;
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case GRAY_6: Serial.println("#SENSOR: FLASH GRAY_6 NOW!"); break;
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case GRAY_7: Serial.println("#SENSOR: FLASH GRAY_7 NOW!");
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}
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#endif
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delay(GRAY_FLASH_TIME);
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Sensor();
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delay(GRAY_FLASH_TIME);
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}
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bool Sensor::IsWhite(uint8_t gray_sensor_num)
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{
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uint8_t gray_out_pin;
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int gray_val;
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int gray_gate;
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switch (gray_sensor_num)
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{
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case GRAY_1: gray_out_pin = GRAY_1_OUT; gray_gate = gray_1_gate; break;
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case GRAY_2: gray_out_pin = GRAY_2_OUT; gray_gate = gray_2_gate; break;
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case GRAY_3: gray_out_pin = GRAY_3_OUT; gray_gate = gray_3_gate; break;
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case GRAY_4: gray_out_pin = GRAY_4_OUT; gray_gate = gray_4_gate; break;
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case GRAY_5: gray_out_pin = GRAY_5_OUT; gray_gate = gray_5_gate; break;
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case GRAY_6: gray_out_pin = GRAY_6_OUT; gray_gate = gray_6_gate; break;
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case GRAY_7: gray_out_pin = GRAY_7_OUT; gray_gate = gray_7_gate;
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}
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gray_val = analogRead(gray_out_pin);
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#ifdef SENSOR_DEBUG
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//调试输出灰度值
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switch (gray_sensor_num)
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{
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case GRAY_1: Serial.print("#SENSOR: GRAY_1 and gate_val: "); break;
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case GRAY_2: Serial.print("#SENSOR: GRAY_2 and gate_val: "); break;
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case GRAY_3: Serial.print("#SENSOR: GRAY_3 and gate_val: "); break;
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case GRAY_4: Serial.print("#SENSOR: GRAY_4 and gate_val: "); break;
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case GRAY_5: Serial.print("#SENSOR: GRAY_5 and gate_val: "); break;
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case GRAY_6: Serial.print("#SENSOR: GRAY_6 and gate_val: "); break;
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case GRAY_7: Serial.print("#SENSOR: GRAY_7 and gate_val: ");
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}
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Serial.print(gray_val);
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Serial.print(" ");
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Serial.println(gray_gate);
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#endif
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if (gray_val > gray_gate)
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return true;
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else return false;
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}
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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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float Sensor::GrayDeviationRate(uint8_t gray_sensor_num)
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{
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uint8_t gray_out_pin;
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int gray_val;
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int gray_gate;
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float deviarion_rate;
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switch (gray_sensor_num)
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{
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case GRAY_1: gray_out_pin = GRAY_1_OUT; gray_gate = gray_1_gate; break;
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case GRAY_2: gray_out_pin = GRAY_2_OUT; gray_gate = gray_2_gate; break;
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case GRAY_3: gray_out_pin = GRAY_3_OUT; gray_gate = gray_3_gate; break;
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case GRAY_4: gray_out_pin = GRAY_4_OUT; gray_gate = gray_4_gate; break;
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case GRAY_5: gray_out_pin = GRAY_5_OUT; gray_gate = gray_5_gate; break;
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case GRAY_6: gray_out_pin = GRAY_6_OUT; gray_gate = gray_6_gate; break;
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case GRAY_7: gray_out_pin = GRAY_7_OUT; gray_gate = gray_7_gate;
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}
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gray_val = analogRead(gray_out_pin);
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#ifdef SENSOR_DEBUG
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//调试输出灰度值
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switch (gray_sensor_num)
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{
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case GRAY_1: Serial.print("#SENSOR: GRAY_1 and gate_val: "); break;
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case GRAY_2: Serial.print("#SENSOR: GRAY_2 and gate_val: "); break;
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case GRAY_3: Serial.print("#SENSOR: GRAY_3 and gate_val: "); break;
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case GRAY_4: Serial.print("#SENSOR: GRAY_4 and gate_val: "); break;
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case GRAY_5: Serial.print("#SENSOR: GRAY_5 and gate_val: "); break;
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case GRAY_6: Serial.print("#SENSOR: GRAY_6 and gate_val: "); break;
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case GRAY_7: Serial.print("#SENSOR: GRAY_7 and gate_val: ");
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}
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Serial.print(gray_val);
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Serial.print(" ");
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Serial.print(gray_gate);
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#endif
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deviarion_rate = (float)gray_val / gray_gate;
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#ifdef SENSOR_DEBUG
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Serial.print(" deviarion_rate: ");
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Serial.println(deviarion_rate);
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#endif
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return deviarion_rate;
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}
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//碰撞传感器（开关）判断是否闭合
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bool Sensor::IsPushed(uint8_t button_num)
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{
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uint8_t button_out_pin;
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int button_val;
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if (button_num == BUTTON_1)
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button_out_pin = BUTTON_1_OUT;
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else button_out_pin = BUTTON_2_OUT;
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button_val = digitalRead(button_out_pin);
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#ifdef SENSOR_DEBUG
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//调试输出按钮状态
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if (button_num == BUTTON_1)
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Serial.print("#SENSOR: BUTTON_1: ");
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else Serial.print("#SENSOR: BUTTON_2: ");
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if (button_val == LOW)
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Serial.println("pushed");
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else Serial.println("released");
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#endif
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if (button_val == LOW)
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return true;
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else return false;
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}
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//开启 HMC5883 的 I2C 通讯
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void Sensor::StartHMC5883(void)
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{
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Wire.begin();
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Wire.beginTransmission(HMC5883_ADDRESS);
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Wire.write(0x02);
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Wire.write(0x00);
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Wire.endTransmission();
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}
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//返回朝向角
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float Sensor::GetAngle(void)
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{
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long x, y, z;
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Wire.beginTransmission(HMC5883_ADDRESS);
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Wire.write(0x03);
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Wire.endTransmission();
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Wire.requestFrom(HMC5883_ADDRESS, 6);
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if (6 <= Wire.available())
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{
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x = Wire.read() << 8;
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x |= Wire.read();
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z = Wire.read() << 8;
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z |= Wire.read();
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y = Wire.read() << 8;
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y |= Wire.read();
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}
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//计算朝向角
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float m = sqrt(x * x + y * y);
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float angle;
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if (x >= 0)
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angle = acos(y / m);
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else angle = 2.0 * PI - acos(y / m);
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#ifdef SENSOR_DEBUG
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//调试输出朝向角
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Serial.print("#SENSOR: Angle Value: ");
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Serial.println(angle);
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#endif
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return angle;
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} |