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removed data_source_us.h/.cpp, no US present on the 2021 robot, if needed, the files can be found in branch master

docs
u-siri-ous 2020-05-05 18:13:14 +02:00
parent e341214905
commit beb9133b4b
4 changed files with 1 additions and 145 deletions
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21
include/sensors/currently_unused/data_source_us.h
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@ -1,21 +0,0 @@
#pragma once
#include "behaviour_control/data_source.h"
#define US_WAIT_TIME 70
class DataSourceUS : public DataSource{
public:
DataSourceUS(TwoWire* i2c_, int addr);
void test() override;
void readSensor() override;
void usMode();
void usTrigger();
void usReceive();
int reading;
long us_t0;
long us_t1;
bool us_flag;
};

2
include/sensors/sensors.h
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@ -21,8 +21,6 @@
#include "sensors/data_source_bno055.h" #include "sensors/data_source_bno055.h"
#include "sensors/data_source_camera_conicmirror.h" #include "sensors/data_source_camera_conicmirror.h"
#include "sensors/data_source_camera_vshapedmirror.h" #include "sensors/data_source_camera_vshapedmirror.h"
#include "sensors/currently_unused/data_source_us.h"
void initSensors(); void initSensors();

118
src/sensors/currently_unused/data_source_us.cpp
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@ -1,118 +0,0 @@
#include "behaviour_control/status_vector.h"
#include "sensors/currently_unused/data_source_us.h"
#include "vars.h"
DataSourceUS::DataSourceUS(TwoWire* i2c_, int addr) : DataSource(i2c_, addr){
us_flag = false;
value = 0;
}
void DataSourceUS::test(){
// test from srf02_example
// step 1: instruct sensor to read echoes
// transmit to device #112 (0x70)
Wire1.beginTransmission(i2CAddr);
// sets register pointer to the command register (0x00)
Wire1.write(byte(0x00));
// command sensor to measure in "centimeters" (0x51). 0x50 inches and 0x52
// microseconds
Wire1.write(byte(0x51));
// stop transmitting
Wire1.endTransmission();
// step 2: wait for readings to happen
// datasheet suggests at least 65 milliseconds
delay(70);
// step 3: instruct sensor to return a particular echo reading
// transmit to device #112
Wire1.beginTransmission(i2CAddr);
// sets register pointer to echo #1 register (0x02)
Wire1.write(byte(0x02));
Wire1.endTransmission();
// step 4: request reading from sensor
// request 2 bytes from slave device #112
Wire1.requestFrom(i2CAddr, 2);
// step 5: receive reading from sensor
if (2 <= Wire1.available()) {
// if two bytes were received
// receive high byte (overwrites previous reading)
reading = Wire1.read();
// shift high byte to be high 8 bits
reading = reading << 8;
// receive low byte as lower 8 bit
reading |= Wire1.read();
value = reading;
}
DEBUG.println(value);
}
void DataSourceUS::readSensor(){
if (us_flag == false) {
usTrigger();
us_flag = true;
us_t0 = millis();
} else {
us_t1 = millis();
if ((us_t1 - us_t0) > US_WAIT_TIME) {
usReceive();
us_flag = false;
}
}
}
void DataSourceUS::usTrigger() {
// step 1: instruct sensor to read echoes
// transmit to device #112 (0x70)
i2c->beginTransmission(i2CAddr);
// sets register pointer to the command register (0x00)
i2c->write(byte(0x00));
// command sensor to measure in "centimeters" (0x51). 0x50 inches and 0x52
// microseconds
i2c->write(byte(0x51));
i2c->endTransmission();
}
void DataSourceUS::usReceive() {
// transmit to device #112s
i2c->beginTransmission(i2CAddr);
// sets register pointer to echo 1 register(0x02)
i2c->write(byte(0x02));
i2c->endTransmission();
// step 4: request reading from sensor
// request 2 bytes from slave device #112
i2c->requestFrom(i2CAddr, 2);
// step 5: receive reading from sensor
// receive high byte (overwrites previous reading)
reading = i2c->read();
// shift high byte to be high 8 bits
reading = reading << 8;
// receive low byte as lower 8 bit
reading |= i2c->read();
value = reading;
switch(i2CAddr){
case 112:
CURRENT_INPUT_WRITE.USfr = value;
CURRENT_DATA_WRITE.USfr = value;
break;
case 113:
CURRENT_INPUT_WRITE.USdx = value;
CURRENT_DATA_WRITE.USdx = value;
break;
case 114:
CURRENT_INPUT_WRITE.USrr = value;
CURRENT_DATA_WRITE.USrr = value;
break;
case 115:
CURRENT_INPUT_WRITE.USsx = value;
CURRENT_DATA_WRITE.USsx = value;
break;
}
}

3
src/sensors/sensors.cpp
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@ -9,8 +9,6 @@ void initSensors(){
pinMode(LED_Y, OUTPUT); pinMode(LED_Y, OUTPUT);
pinMode(LED_G, OUTPUT); pinMode(LED_G, OUTPUT);
dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)),
new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };
drive = new DriveController(new Motor(11, 12, 4, 45),new Motor(24, 25, 5, 135), new Motor(26, 27, 2, 225), new Motor(28, 29, 3, 315)); drive = new DriveController(new Motor(11, 12, 4, 45),new Motor(24, 25, 5, 135), new Motor(26, 27, 2, 225), new Motor(28, 29, 3, 315));
//drive = new DriveController(new Motor(12, 11, 2, 45),new Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315)); //drive = new DriveController(new Motor(12, 11, 2, 45),new Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
compass = new DataSourceBNO055(); compass = new DataSourceBNO055();
@ -18,7 +16,6 @@ void initSensors(){
//ball = new DataSourceBall(&Serial4, 57600); //ball = new DataSourceBall(&Serial4, 57600);
camera = new DataSourceCameraConic(&Serial3, 19200); camera = new DataSourceCameraConic(&Serial3, 19200);
//camera = new DataSourceCameraConic(&Serial2, 19200); //camera = new DataSourceCameraConic(&Serial2, 19200);
usCtrl = new DataSourceCtrl(dUs);
bt = new DataSourceBT(&Serial1, 115200); bt = new DataSourceBT(&Serial1, 115200);
//bt = new DataSourceBT(&Serial3, 115200); //bt = new DataSourceBT(&Serial3, 115200);
} }