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authorsicarius <devnull@localhost>2007-02-22 14:12:03 +0100
committersicarius <devnull@localhost>2007-02-22 14:12:03 +0100
commit655dd7522fb60e2ef0e68437337178184109f347 (patch)
treebebff27847c72ebf4be3d763f1da4f66d704dffa /source/Concept/Framework/modules/input
parent9525458918383afbf324854fc2130d3740154da3 (diff)
downloadrc2007-soccer-655dd7522fb60e2ef0e68437337178184109f347.tar
rc2007-soccer-655dd7522fb60e2ef0e68437337178184109f347.zip
Codework
Diffstat (limited to 'source/Concept/Framework/modules/input')
-rwxr-xr-xsource/Concept/Framework/modules/input/distance_sensor.c19
-rwxr-xr-xsource/Concept/Framework/modules/input/ir_sensor.c2
-rwxr-xr-xsource/Concept/Framework/modules/input/ir_sensor.h7
3 files changed, 25 insertions, 3 deletions
diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c
index 262d35f..e6fd3f8 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.c
+++ b/source/Concept/Framework/modules/input/distance_sensor.c
@@ -5,21 +5,36 @@ float Distance_Sensor::GetDistance()
{
uint32 result = 0;
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
+
+ msleep(500);
+
//Generate pulse
*hardwareDDR |= pin;//Set pin output
*hardwarePort |= pin;//Activate port
usleep(10);//Wait for 10µs
- *hardwarePort &= ~pin;//Deactivate port
*hardwareDDR &= ~pin;//Set pin input
+ *hardwarePort &= ~pin;//Deactivate port
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);
+ //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
+
+ uint16 i;
//Wait for response
- for(uint16 i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
+ for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
//Calculate duration of response
while((*hardwarePin & pin)&&(result < 300000))
{
result++;
asm volatile("nop");
+ asm volatile("nop");
+ asm volatile("nop");
+ asm volatile("nop");
+ asm volatile("nop");
+ asm volatile("nop");
+ asm volatile("nop");
}
return (float(result) * DISTANCE_PER_VALUE);
diff --git a/source/Concept/Framework/modules/input/ir_sensor.c b/source/Concept/Framework/modules/input/ir_sensor.c
index c34feed..12d74e0 100755
--- a/source/Concept/Framework/modules/input/ir_sensor.c
+++ b/source/Concept/Framework/modules/input/ir_sensor.c
@@ -5,5 +5,5 @@ uint16 IR_Sensor::GetIRIntensity()
{
if(!parent) return 0;
- return parent->GetADCValue(channel);
+ return min(parent->GetADCValue(channel) + this->intensityCorrection, 1023);
}
diff --git a/source/Concept/Framework/modules/input/ir_sensor.h b/source/Concept/Framework/modules/input/ir_sensor.h
index 30e6ea4..74396ec 100755
--- a/source/Concept/Framework/modules/input/ir_sensor.h
+++ b/source/Concept/Framework/modules/input/ir_sensor.h
@@ -12,12 +12,14 @@ public:
{
this->parent = NULL;
this->moduleId = 0;
+ this->intensityCorrection = 0;
}
IR_Sensor(uint32 sensorId)
{
this->parent = NULL;
this->moduleId = sensorId;
+ this->intensityCorrection = 0;
switch(sensorId)
{
@@ -32,12 +34,15 @@ public:
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
+ this->intensityCorrection = 40;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
+ this->intensityCorrection = 50;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;
+ this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_300_DEG:
this->channel = 6;
@@ -55,6 +60,8 @@ protected:
//Hardware
uint8 channel;
+ uint8 intensityCorrection;
+
public:
uint16 GetIRIntensity();
};