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