From 81687a0a7f50037d604cd01b262b1825c1716225 Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Wed, 24 Feb 2021 18:08:24 +0800
Subject: [PATCH] =?UTF-8?q?sensor=20=E5=BA=93=E5=A2=9E=E5=8A=A0=E9=97=AA?=
 =?UTF-8?q?=E7=83=81=E7=81=B0=E5=BA=A6=E4=BC=A0=E6=84=9F=E5=99=A8=E7=9A=84?=
 =?UTF-8?q?=E5=8A=9F=E8=83=BD?=
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---
 TaiChi/sensorTaiChi.cpp | 58 +++++++++++++++++++++++++++++++++++++++++
 TaiChi/sensorTaiChi.h   | 24 +++++++++++++++--
 2 files changed, 80 insertions(+), 2 deletions(-)

diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp
index 9350b70..e74f3e1 100644
--- a/TaiChi/sensorTaiChi.cpp
+++ b/TaiChi/sensorTaiChi.cpp
@@ -7,9 +7,66 @@ 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;
@@ -48,6 +105,7 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num)
 }
 
 
+//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;
diff --git a/TaiChi/sensorTaiChi.h b/TaiChi/sensorTaiChi.h
index c4575c6..109a7be 100644
--- a/TaiChi/sensorTaiChi.h
+++ b/TaiChi/sensorTaiChi.h
@@ -6,7 +6,7 @@
 #define SENSOR_DEBUG
 
 
-//灰度传感器接口定义
+//灰度传感器 OUT 接口定义
 #define GRAY_1_OUT A0
 #define GRAY_2_OUT A1
 #define GRAY_3_OUT A2
@@ -14,9 +14,20 @@
 #define GRAY_5_OUT A4
 #define GRAY_6_OUT A5
 
+//灰度传感器 VCC 接口定义
+#define GRAY_1_VCC 48
+#define GRAY_2_VCC 49
+#define GRAY_3_VCC 50
+#define GRAY_4_VCC 51
+#define GRAY_5_VCC 52
+#define GRAY_6_VCC 53
+
 //灰度传感器临界值
 #define GRAY_GATE_VAL 800
 
+//灰度传感器闪烁时间
+#define GRAY_FLASH_TIME 200
+
 //灰度传感器标识定义
 #define GRAY_1 0
 #define GRAY_2 1
@@ -25,10 +36,14 @@
 #define GRAY_5 4
 #define GRAY_6 5
 
-//碰撞传感器接口定义
+//碰撞传感器 OUT 接口定义
 #define BUTTON_1_OUT 2
 #define BUTTON_2_OUT 3
 
+//碰撞传感器 VCC 接口定义
+#define BUTTON_1_VCC 46
+#define BUTTON_2_VCC 47
+
 //碰撞传感器标识定义
 #define BUTTON_1 0
 #define BUTTON_2 1
@@ -39,8 +54,13 @@ class Sensor
 public:
     Sensor();
 
+    //使灰度传感器闪烁
+    void FlashGraySensor(uint8_t gray_sensor_num);
+
+    //灰度传感器判断下方是否为白色
     bool IsWhite(uint8_t gray_sensor_num);
 
+    //碰撞传感器（开关）判断是否闭合
     bool IsPushed(uint8_t button_num);
 };