From f3f374716a011d9cfa84d0e6cdbfe0ac5b53ebf0 Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Wed, 10 Mar 2021 23:35:47 +0800
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---
 TaiChi/sensorTaiChi.cpp | 51 +++++++++++++++++++++++++++++++++++++++++
 TaiChi/sensorTaiChi.h   | 17 ++++++++------
 2 files changed, 61 insertions(+), 7 deletions(-)

diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp
index a14cf37..9baec7b 100644
--- a/TaiChi/sensorTaiChi.cpp
+++ b/TaiChi/sensorTaiChi.cpp
@@ -114,6 +114,57 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num)
 }
 
 
+//灰度传感器灰度值偏离比例，即 (gray_gate - gray_val) / gray_gate
+float Sensor::GrayDeviationRate(uint8_t gray_sensor_num)
+{
+    uint8_t gray_out_pin;
+    int gray_val;
+    int gray_gate;
+    float deviarion_rate;
+    
+    switch (gray_sensor_num)
+    {
+    case GRAY_1: gray_out_pin = GRAY_1_OUT; gray_gate = GRAY_1_GATE; break;
+    case GRAY_2: gray_out_pin = GRAY_2_OUT; gray_gate = GRAY_2_GATE; break;
+    case GRAY_3: gray_out_pin = GRAY_3_OUT; gray_gate = GRAY_3_GATE; break;
+    case GRAY_4: gray_out_pin = GRAY_4_OUT; gray_gate = GRAY_4_GATE; break;
+    case GRAY_5: gray_out_pin = GRAY_5_OUT; gray_gate = GRAY_5_GATE; break;
+    case GRAY_6: gray_out_pin = GRAY_6_OUT; gray_gate = GRAY_6_GATE; break;
+    case GRAY_7: gray_out_pin = GRAY_7_OUT; gray_gate = GRAY_7_GATE; 
+    }
+
+    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 and gate_val: "); break;
+    case GRAY_2: Serial.print("#SENSOR: GRAY_2 and gate_val: "); break;
+    case GRAY_3: Serial.print("#SENSOR: GRAY_3 and gate_val: "); break;
+    case GRAY_4: Serial.print("#SENSOR: GRAY_4 and gate_val: "); break;
+    case GRAY_5: Serial.print("#SENSOR: GRAY_5 and gate_val: "); break;
+    case GRAY_6: Serial.print("#SENSOR: GRAY_6 and gate_val: "); break;
+    case GRAY_7: Serial.print("#SENSOR: GRAY_7 and gate_val: ");
+    }
+
+    Serial.print(gray_val);
+    Serial.print(" ");
+    Serial.print(gray_gate);
+    #endif
+
+    //deviarion_rate = (float)(gray_gate - gray_val) / gray_gate;
+    deviarion_rate = (float)gray_val / gray_gate;
+
+    #ifdef SENSOR_DEBUG
+    Serial.print(" deviarion_rate: ");
+    Serial.println(deviarion_rate);
+    #endif
+
+    return deviarion_rate;
+}
+
+
 //碰撞传感器（开关）判断是否闭合
 bool Sensor::IsPushed(uint8_t button_num)
 {
diff --git a/TaiChi/sensorTaiChi.h b/TaiChi/sensorTaiChi.h
index a331080..6cadf67 100644
--- a/TaiChi/sensorTaiChi.h
+++ b/TaiChi/sensorTaiChi.h
@@ -25,13 +25,13 @@
 #define GRAY_7_VCC 47
 
 //灰度传感器临界值
-#define GRAY_1_GATE 740
-#define GRAY_2_GATE 740
-#define GRAY_3_GATE 740
-#define GRAY_4_GATE 740
-#define GRAY_5_GATE 740
-#define GRAY_6_GATE 740
-#define GRAY_7_GATE 790
+#define GRAY_1_GATE 900
+#define GRAY_2_GATE 900
+#define GRAY_3_GATE 850
+#define GRAY_4_GATE 850
+#define GRAY_5_GATE 900
+#define GRAY_6_GATE 880
+#define GRAY_7_GATE 802
 
 //灰度传感器闪烁时间
 #define GRAY_FLASH_TIME 200
@@ -69,6 +69,9 @@ public:
     //灰度传感器判断下方是否为白色
     bool IsWhite(uint8_t gray_sensor_num);
 
+    //灰度传感器灰度值偏离比例，即 (gray_gate - gray_val) / gray_gate
+    float GrayDeviationRate(uint8_t gray_sensor_num);
+
     //碰撞传感器（开关）判断是否闭合
     bool IsPushed(uint8_t button_num);
 };