blob: 30e6ea4720eca5450eb603cfad683b39dc6f61a8 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
|
#ifndef _IR_SENSOR_H
#define _IR_SENSOR_H
#include "../../defines.h"
#include "../../robot.h"
#include "sensor.h"
class IR_Sensor : public Sensor
{
public:
IR_Sensor()
{
this->parent = NULL;
this->moduleId = 0;
}
IR_Sensor(uint32 sensorId)
{
this->parent = NULL;
this->moduleId = sensorId;
switch(sensorId)
{
case IO_SENSOR_IR_0_DEG:
this->channel = 0;
break;
case IO_SENSOR_IR_30_DEG:
this->channel = 1;
break;
case IO_SENSOR_IR_60_DEG:
this->channel = 2;
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;
break;
case IO_SENSOR_IR_300_DEG:
this->channel = 6;
break;
case IO_SENSOR_IR_330_DEG:
this->channel = 7;
break;
default:
this->channel = 8;
break;
}
}
protected:
//Hardware
uint8 channel;
public:
uint16 GetIRIntensity();
};
#endif
|
