diff options
| author | neoraider <devnull@localhost> | 2007-04-03 14:47:03 +0200 |
|---|---|---|
| committer | neoraider <devnull@localhost> | 2007-04-03 14:47:03 +0200 |
| commit | 98c623dc8969151c0872a2d102d486f9a735d614 (patch) | |
| tree | c9746d588928c618c6687e719a910350f8c070b5 /Sensors.h | |
| download | rc2007-rescue-old-98c623dc8969151c0872a2d102d486f9a735d614.tar rc2007-rescue-old-98c623dc8969151c0872a2d102d486f9a735d614.zip | |
Diffstat (limited to 'Sensors.h')
| -rw-r--r-- | Sensors.h | 149 |
1 files changed, 149 insertions, 0 deletions
diff --git a/Sensors.h b/Sensors.h new file mode 100644 index 0000000..54e3d4b --- /dev/null +++ b/Sensors.h @@ -0,0 +1,149 @@ +#ifndef _ROBOCUP_SENSORS_H_
+#define _ROBOCUP_SENSORS_H_
+
+#include "qfixSoccerBoard.h"
+
+#define SENSOR_PORT_LINIE_LINKS 0
+#define SENSOR_PORT_LINIE_MITTE 1
+#define SENSOR_PORT_LINIE_RECHTS 2
+ +#define SENSOR_PORT_D_L 3 +#define SENSOR_PORT_D_VL 4 +#define SENSOR_PORT_D_V 5 +#define SENSOR_PORT_D_VR 6 +#define SENSOR_PORT_D_R 7 +
+#define LINIE_WEISS 70
+#define LINIE_FEHLER 71
+
+#define SW_SCHWARZ(sensor) (sensor->getWert() > m_gw_sw)
+#define SW_WEISS(sensor) (sensor->getWert() <= m_gw_sw)
+
+#define C_SCHWARZ(sensor) (sensor->getWert() > m_gw_sg)
+#define C_GRUEN(sensor) (sensor->getWert() > m_gw_gw && sensor->getWert() <= m_gw_sg)
+#define C_WEISS(sensor) (sensor->getWert() > m_gw_ws && sensor->getWert() <= m_gw_gw)
+#define C_SILBER(sensor) (sensor->getWert() <= m_gw_ws)
+
+
+class Sensor {
+ private:
+ SoccerBoard *m_board;
+ int m_port;
+ int m_wert;
+
+ public:
+ Sensor(SoccerBoard *board, int port) {
+ m_board = board;
+ m_port = port;
+ }
+
+ void update();
+
+ int getWert() {
+ return m_wert;
+ }
+};
+
+
+class Sensors {
+ private:
+ SoccerBoard *m_board;
+
+ bool m_kalibriert;
+
+ Sensor *m_lsLinks, *m_lsMitte, *m_lsRechts;
+ int m_sLinks, m_sMitte, m_sRechts;
+ int m_gLinks, m_gMitte, m_gRechts;
+ int m_liniePos;
+
+ int m_gw_sg; // Grenzwert schwarz/grün
+ int m_gw_gw; // Grenzwert grün/weiß
+ int m_gw_ws; // Grenzwert weiß/silber
+ int m_gw_sw; // Grenzwert schwarz/weiß
+ + Sensor *m_dsL, *m_dsVL, *m_dsV, *m_dsVR, *m_dsR;
+ public:
+ Sensors(SoccerBoard *board) {
+ m_board = board;
+
+ m_kalibriert = false;
+
+ m_lsLinks = new Sensor(board, SENSOR_PORT_LINIE_LINKS);
+ m_lsMitte = new Sensor(board, SENSOR_PORT_LINIE_MITTE);
+ m_lsRechts = new Sensor(board, SENSOR_PORT_LINIE_RECHTS);
+ + m_dsL = new Sensor(board, SENSOR_PORT_D_L);
+ m_dsVL = new Sensor(board, SENSOR_PORT_D_VL);
+ m_dsV = new Sensor(board, SENSOR_PORT_D_V); + m_dsVR = new Sensor(board, SENSOR_PORT_D_VR);
+ m_dsR = new Sensor(board, SENSOR_PORT_D_R); +
+ m_sLinks = m_sMitte = m_sRechts = 0;
+ m_gLinks = m_gMitte = m_gRechts = 0;
+
+ m_liniePos = 0;
+ }
+
+ ~Sensors() {
+ delete m_lsLinks;
+ delete m_lsMitte;
+ delete m_lsRechts; + + delete m_dsL;
+ delete m_dsVL;
+ delete m_dsV; + delete m_dsVR;
+ delete m_dsR;
+ }
+
+ int getLinie() {return m_liniePos;}
+ bool getOpfer() {
+ return /*(m_sLinks && m_sMitte && m_sRechts) || */(m_gLinks && m_gMitte && m_gRechts);
+ }
+ + bool hindernisL() { + return (m_dsL->getWert() > HINDERNIS_ERKENNUNGSWERT_SEITL); + } + + bool hindernisVL() { + return (m_dsVL->getWert() > HINDERNIS_ERKENNUNGSWERT); + } + + bool hindernisV() { + return (m_dsV->getWert() > HINDERNIS_ERKENNUNGSWERT); + } + + bool hindernisVR() { + return (m_dsVR->getWert() > HINDERNIS_ERKENNUNGSWERT); + } + + bool hindernisR() { + return m_dsR->getWert(); + } + + int getDsL() { + return m_dsL->getWert(); + } + + int getDsVL() { + return m_dsVL->getWert(); + } + + int getDsV() { + return m_dsV->getWert(); + } + + int getDsVR() { + return m_dsVR->getWert(); + } + + int getDsR() { + return m_dsR->getWert(); + } +
+ void update();
+ void auswerten();
+ bool kalibrieren();
+};
+
+#endif
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