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增加灰度传感器灰度值偏离比例计算

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lxbpxylps@126.com 2021-03-10 23:35:47 +08:00
parent 811122382c
commit f3f374716a
2 changed files with 61 additions and 7 deletions
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51
TaiChi/sensorTaiChi.cpp
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@ -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 //碰撞传感器（开关）判断是否闭合
bool Sensor::IsPushed(uint8_t button_num) bool Sensor::IsPushed(uint8_t button_num)
{ {

17
TaiChi/sensorTaiChi.h
View File

@ -25,13 +25,13 @@
#define GRAY_7_VCC 47 #define GRAY_7_VCC 47
//灰度传感器临界值 //灰度传感器临界值
#define GRAY_1_GATE 740 #define GRAY_1_GATE 900
#define GRAY_2_GATE 740 #define GRAY_2_GATE 900
#define GRAY_3_GATE 740 #define GRAY_3_GATE 850
#define GRAY_4_GATE 740 #define GRAY_4_GATE 850
#define GRAY_5_GATE 740 #define GRAY_5_GATE 900
#define GRAY_6_GATE 740 #define GRAY_6_GATE 880
#define GRAY_7_GATE 790 #define GRAY_7_GATE 802
//灰度传感器闪烁时间 //灰度传感器闪烁时间
#define GRAY_FLASH_TIME 200 #define GRAY_FLASH_TIME 200
@ -69,6 +69,9 @@ public:
//灰度传感器判断下方是否为白色 //灰度传感器判断下方是否为白色
bool IsWhite(uint8_t gray_sensor_num); 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 //碰撞传感器（开关）判断是否闭合
bool IsPushed(uint8_t button_num); bool IsPushed(uint8_t button_num);
}; };