Sensor Class Reference

Sensor class to handle the sensor readings. More...

#include <sensor.h>

Public Member Functions
	Sensor (PinName p1, PinName p2, PinName p3, PinName p4, PinName p5, PinName p6, PinName in1, PinName in2, PinName in3, PinName in4, PinName in5, PinName in6)
	Constructor. More...
float	read ()
	Read the sensor values. More...
float	getDistance () const
	Get the distance. More...
int	getNoTrackCounter () const
	Get the no track counter value. More...
void	calibrateBlack ()
	Calibrate the sensors on black area of the track. More...
void	calibrateWhite ()
	Calibrate the sensors on white area of the track. More...

Static Public Attributes
static std::array< float, 6 >	WEIGHTS
	Array of constant weights for sensors. More...
static std::array< float, 6 >	BLACK_TRESHOLD
	Array of constant black threshold for sensors. More...
static std::array< float, 6 >	SCALE_FACTOR
	Array of constant scale factor for sensors. More...
static bool	s_run
	Debugging flag for printing headers. More...

Private Attributes
BusOut	m_pins
	Array of sensors DigitalOut. More...
std::array< AnalogIn, 6 >	m_analog
	Array of sensors AnalogIn. More...
std::array< float, 6 >	m_reading {}
	Array of sensors readings. More...
std::array< float, 6 >	m_noise {}
	Array of sensors noise. More...
float	m_distance {0}
	Sensor position. More...
int	m_notrackcounter {0}
	No track counter. More...

Detailed Description

Sensor class to handle the sensor readings.

This class handles the sensor readings and provides the data in terms of position from white line.

Constructor & Destructor Documentation

Sensor()

Sensor::Sensor	(	PinName	p1,
		PinName	p2,
		PinName	p3,
		PinName	p4,
		PinName	p5,
		PinName	p6,
		PinName	in1,
		PinName	in2,
		PinName	in3,
		PinName	in4,
		PinName	in5,
		PinName	in6
	)

Constructor.

Construct a new Sensor object.

Parameters

p1,p2,p3,p4,p5,p6	Array of sensors DigitalOut.
in1,in2,in3,in4,in5,in6	Array of sensors AnalogIn.

Member Function Documentation

read()

float Sensor::read

(

)

Read the sensor values.

Read the sensor values and normalise them.

getDistance()

float Sensor::getDistance

(

)

const

Get the distance.

Get the distance from the center line.

Returns

float Distance from the center line.

getNoTrackCounter()

int Sensor::getNoTrackCounter

(

)

const

Get the no track counter value.

Returns

int m_no_track_counter

calibrateBlack()

void Sensor::calibrateBlack

(

)

Calibrate the sensors on black area of the track.

calibrateWhite()

void Sensor::calibrateWhite

(

)

Calibrate the sensors on white area of the track.

Member Data Documentation

m_pins

BusOut Sensor::m_pins

private

Array of sensors DigitalOut.

m_analog

std::array<AnalogIn, 6> Sensor::m_analog

private

Array of sensors AnalogIn.

m_reading

std::array<float, 6> Sensor::m_reading {}

private

Array of sensors readings.

m_noise

std::array<float, 6> Sensor::m_noise {}

private

Array of sensors noise.

m_distance

float Sensor::m_distance {0}

private

Sensor position.

m_notrackcounter

int Sensor::m_notrackcounter {0}

private

No track counter.

WEIGHTS

std::array<float, 6> Sensor::WEIGHTS

static

Array of constant weights for sensors.

BLACK_TRESHOLD

std::array<float, 6> Sensor::BLACK_TRESHOLD

static

Array of constant black threshold for sensors.

SCALE_FACTOR

std::array<float, 6> Sensor::SCALE_FACTOR

static

Array of constant scale factor for sensors.

s_run

bool Sensor::s_run

static

Debugging flag for printing headers.

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The documentation for this class was generated from the following file:

• /github/workspace/include/sensor/sensor.h