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switched to using six line sensors

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This commit is contained in:
Andy Killorin 2024-10-24 15:03:30 -04:00
parent 043bb622fb
commit eab58ccacf
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 25 additions and 10 deletions
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24
lib/LineSensor/src/LineSensor.cpp
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@ -4,13 +4,29 @@
void LineSensor::Initialize(void)
{
pinMode(leftSensorPin, INPUT);
pinMode(rightSensorPin, INPUT);
for (int i = 0; i<sensorCount; i++) {
pinMode(sensors[i], INPUT);
}
}
int16_t LineSensor::CalcError(void)
float LineSensor::CalcError(void)
{
return analogRead(rightSensorPin) - analogRead(leftSensorPin);
float sum_pos = 0;
float sum = 0;
for (int i = 0; i<sensorCount; i++) {
int ret = analogRead(sensors[i]);
sum_pos += ret * (i+1);
sum += ret;
#ifdef __TRACK_DEBUG__
Serial.print(ret);
Serial.print(" ");
#endif
}
float pos = sum_pos / sum;
#ifdef __TRACK_DEBUG__
Serial.println(pos);
#endif
return pos;
}

11
lib/LineSensor/src/LineSensor.h
View file

@ -2,20 +2,19 @@
#include <Arduino.h>
#define LEFT_LINE_SENSOR A0
#define RIGHT_LINE_SENSOR A4
#define FIRST_LINE_SENSOR A0
class LineSensor
{
protected:
uint8_t leftSensorPin = LEFT_LINE_SENSOR;
uint8_t rightSensorPin = RIGHT_LINE_SENSOR;
const static uint8_t sensorCount = 6;
const byte sensors[sensorCount] = {A0,A7,A2,A3,A4,A6};
bool prevOnIntersection = false;
public:
LineSensor(void) {}
void Initialize(void);
int16_t CalcError(void);
float CalcError(void); // varies between 1 and 6
bool CheckIntersection(void);
};
};