sensor.h

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#ifndef SENSOR_H
#define SENSOR_H
 
#include "debug1.h"
#include "arm_math.h"
#include "mbed.h"
#include "helper.h"
#include <algorithm>
#include <array>
#include <cstdio>
 
#define PRESCALER 10.0f
#define NO_TRACK 30
#define WHITE_TRESHOLD 0.8
 
#ifdef SENSORS_DEBUG
#define _SENSORS_DEBUG 1
#else
#define _SENSORS_DEBUG 0
#endif
 
class Sensor {
  private:
    BusOut m_pins;
 
    std::array<AnalogIn, 6> m_analog;
 
    std::array<float, 6> m_reading{};
 
    std::array<float, 6> m_noise{};
 
    float m_distance{0};
 
    int m_notrackcounter{0};
 
  public:
    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);
 
    static std::array<float, 6> WEIGHTS;
 
    static std::array<float, 6> BLACK_TRESHOLD;
 
    static std::array<float, 6> SCALE_FACTOR;
 
    static bool s_run;
 
    float read();
 
    float getDistance() const;
 
    int getNoTrackCounter() const;
 
    void calibrateBlack();
 
    void calibrateWhite();
 
};
 
#endif