Sharps

Functions which handle the IR-distance sensors. More...

Modules
	Advanced informations

Enumerations
enum	eSharpGet
	clusters select values for reading the distance measurements More...

Functions
int16_t	sharps_toMm (uint16_t adc)
	Converts an adc value of a sharp sensor into millimeters. More...

Request Funktions
void	sharps_request (eRequestType request)
	Requests new data from the sharp sensors. More...
uint8_t	sharps_received (void)
	Indicates if new data for the data block sSharp was received. More...
uint8_t	sharps_changed (void)
	Indicates if new data changed the data block sSharp. More...

Access Funktions
uint16_t	sharps_get (eSharpGet select)
	Returns the last stored value of the selected sharp sensor. More...

Detailed Description

Functions which handle the IR-distance sensors.

Each sharp sensors returns an analog voltage which relates indirect to the measured distance. This voltage is converted with the internal analog-digital-converter.

example

/*******************************************************************************
* examples/sharp.c                                                             *
* ================                                                             *
*                                                                              *
* Version: 1.0.6                                                               *
* Date   : 15.11.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testSharp(void);
int main(void);
 
//*********************************[testSharp]**********************************
void testSharp(void) {
 
    int16_t value;
    uint8_t countdown = 0;
    uint8_t flag_convert = 0xFF;
 
    lcdclr();
    lcdstr_p(PSTR("Sharp"           ));
    lcdxy(0,1);
    lcdstr_p(PSTR(" #### #### ####"));
 
    sharps_request(kRequestContinuous);
 
    while (1) {
        if (buttons_get(kButtonMiddle)) {
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            lcdxy(13,0);
            lcdstr_p(PSTR(            " mm"));
 
            flag_convert = 0xFF;
            countdown = 0;
        } else if (buttons_get(kButtonRight)) {
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            lcdxy(13,0);
            lcdstr_p(PSTR(            "adc"));
 
            flag_convert = 0x00;
            countdown = 0;
        }
 
        if (countdown) {
            countdown--;
        } else {
            countdown = 5;
 
            value = sharps_get(kSharpGetLeft);
            if (flag_convert) {value = sharps_toMm(value);}
            lcdxy( 1,1); int16tostr(lcdout,value,4);
 
            value = sharps_get(kSharpGetMiddle);
            if (flag_convert) {value = sharps_toMm(value);}
            lcdxy( 6,1); int16tostr(lcdout,value,4);
 
            value = sharps_get(kSharpGetRight);
            if (flag_convert) {value = sharps_toMm(value);}
            lcdxy(11,1); int16tostr(lcdout,value,4);
        }
 
        mdelay(100);
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testSharp();
 
    return (0);
}

Enumeration Type Documentation

eSharpGet

enum eSharpGet

clusters select values for reading the distance measurements

See also

sharps_get()

Enumerator
kSharpGetLeft	constants (1): left ir-distance sensor
kSharpGetMiddle	constants (2): middle ir-distance sensor
kSharpGetRight	constants (3): right ir-distance sensor

Function Documentation

sharps_changed()

uint8_t sharps_changed

(

void

)

Indicates if new data changed the data block sSharp.

Because of noise the variables will probably be changed every time new data is received.

The return value is boolean.

Returns

8-bit unsigned integer which is a boolean value

See also

sharps_received(), sharps_request() and sharps_get()

sharps_get()

uint16_t sharps_get

(

eSharpGet

select

)

Returns the last stored value of the selected sharp sensor.

This function relies on the internal data block sSharp - for new data use sharps_request().

The result is given in adc-units. It is helpful to convert the measurement into millimeters - see sharps_toMm().

Parameters

select

value of the selected sharp sensor - see also eSharpGet

Returns

16-bit unsigned integer (0..1023)

See also

sharps_request(), sharps_received() and sharps_changed()

Examples

sharp.c.

sharps_received()

uint8_t sharps_received

(

void

)

Indicates if new data for the data block sSharp was received.

The return value is boolean.

Returns

8-bit unsigned integer which is a boolean value

See also

sharps_changed(), sharps_request() and sharps_get()

sharps_request()

void sharps_request

(

eRequestType

request

)

Requests new data from the sharp sensors.

For details on the request schema see The general request.

Involved data blocks are:
sSharp

See also

sharps_get(), sharps_received() and sharps_changed()

Examples

sharp.c.

sharps_toMm()

int16_t sharps_toMm

(

uint16_t

adc

)

Converts an adc value of a sharp sensor into millimeters.

The function is just a rough conversion function. It was tuned to be a good fit to all sensors of all robots.

Parameters

adc	16-bit unsigned integer This is the measured value in adc-units.

Returns

16-bit integer (-2, -1, 80..800)

value	description
-2	to far away (> 800mm)
-1	to close (< 80mm)
80..800	distance in mm

See also

sharps_get()

Examples

sharp.c.