diff --git a/README.md b/README.md index b2fb3b1..af67861 100644 --- a/README.md +++ b/README.md @@ -135,6 +135,7 @@ For instance, in `src/Dezibot.h`, to include `src/motion/Motion.h`, you should w * Upload Mode: "UART0 / Hardware CDC" * USB Mode: "Hardware CDC and JTAG" * Programmer: "Esptool" +* USB CDC on Boot: Enabled #### Display diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp index b44cf7c..25666ad 100644 --- a/src/Dezibot.cpp +++ b/src/Dezibot.cpp @@ -8,4 +8,5 @@ void Dezibot::begin(void) { infraredLight.begin(); + lightDetection.begin(); } \ No newline at end of file diff --git a/src/Dezibot.h b/src/Dezibot.h index 94b47b1..51f465a 100644 --- a/src/Dezibot.h +++ b/src/Dezibot.h @@ -18,6 +18,7 @@ #include "motionDetection/MotionDetection.h" #include "infraredLight/InfraredLight.h" + class Dezibot { protected: diff --git a/src/lightDetection/LightDetection.cpp b/src/lightDetection/LightDetection.cpp new file mode 100644 index 0000000..8fc22fd --- /dev/null +++ b/src/lightDetection/LightDetection.cpp @@ -0,0 +1,114 @@ +#include "LightDetection.h" + +void LightDetection::begin(void){ + LightDetection::beginInfrared(); + LightDetection::beginDaylight(); +}; + +uint16_t LightDetection::getValue(photoTransistors sensor){ + uint16_t result; + switch(sensor){ + //Fall Through intended + case IR_FRONT: + case IR_LEFT: + case IR_RIGHT: + case IR_BACK: + return readIRPT(sensor); + case DL_BOTTOM: + case DL_FRONT: + return readDLPT(sensor); + } +}; + +photoTransistors LightDetection::getBrightest(ptType type){ + photoTransistors maxSensor; + uint16_t maxReading = 0; + uint16_t currentReading = 0; + + if (type == IR){ + for(const auto pt : allIRPTs){ + currentReading = LightDetection::getValue(pt); + if (currentReading > maxReading){ + maxReading = currentReading; + maxSensor = pt; + } + } + } else { + for(const auto pt : allDLPTs){ + currentReading = LightDetection::getValue(pt); + if (currentReading > maxReading){ + maxReading = currentReading; + maxSensor = pt; + } + } + } + + return maxSensor; +}; + +uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween){ + TickType_t xLastWakeTime = xTaskGetTickCount(); + TickType_t frequency = timeBetween / portTICK_PERIOD_MS; + uint64_t cumulatedResult = 0; + for(int i = 0; i < measurments; i++){ + cumulatedResult += LightDetection::getValue(sensor); + xTaskDelayUntil(&xLastWakeTime,frequency); + } + return cumulatedResult/measurments; +}; + +void LightDetection::beginInfrared(void){ + pinMode(IR_PT_ENABLE, OUTPUT); + pinMode(IR_PT_FRONT_ADC, INPUT); + pinMode(IR_PT_LEFT_ADC, INPUT); + pinMode(IR_PT_RIGHT_ADC, INPUT); + pinMode(IR_PT_BACK_ADC, INPUT); +}; + +void LightDetection::beginDaylight(void){ + pinMode(DL_PT_ENABLE, OUTPUT); + pinMode(DL_PT_BOTTOM_ADC, INPUT); + pinMode(DL_PT_FRONT_ADC, INPUT ); +}; + +uint16_t LightDetection::readIRPT(photoTransistors sensor){ + digitalWrite(IR_PT_ENABLE,HIGH); + uint16_t result = 0; + switch (sensor) + { + case IR_FRONT: + result = analogRead(IR_PT_FRONT_ADC); + break; + case IR_LEFT: + result = analogRead(IR_PT_LEFT_ADC); + break; + case IR_RIGHT: + result = analogRead(IR_PT_RIGHT_ADC); + break; + case IR_BACK: + result = analogRead(IR_PT_BACK_ADC); + break; + default: + break; + } + digitalWrite(IR_PT_ENABLE,LOW); + return result; +}; + +uint16_t LightDetection::readDLPT(photoTransistors sensor){ + digitalWrite(DL_PT_ENABLE,HIGH); + uint16_t result = 0; + switch (sensor) + { + case DL_FRONT: + result = analogRead(DL_PT_FRONT_ADC); + break; + case DL_BOTTOM: + result = analogRead(DL_PT_BOTTOM_ADC); + break; + default: + break; + } + digitalWrite(DL_PT_ENABLE,LOW); + return result; +}; \ No newline at end of file diff --git a/src/lightDetection/LightDetection.h b/src/lightDetection/LightDetection.h index 80827d8..aa46cc0 100644 --- a/src/lightDetection/LightDetection.h +++ b/src/lightDetection/LightDetection.h @@ -1,8 +1,97 @@ +/** + * @file LightDetection.h + * @author Hans Haupt (hans.haupt@dezibot.de) + * @brief Class for Reading the values of the different Phototransistors, both IR, and DaylightSensors are supported. + * @version 0.1 + * @date 2024-04-26 + * + * @copyright Copyright (c) 2024 + * + */ + #ifndef LightDetection_h #define LightDetection_h +#include +#include + + + +enum photoTransistors{ + IR_LEFT, + IR_RIGHT, + IR_FRONT, + IR_BACK, + DL_FRONT, + DL_BOTTOM +}; + +struct averageMeasurement { + photoTransistors sensor; + uint32_t measurementAmount; + uint32_t timeBetween; + uint16_t result; + bool done; +}; + +enum ptType{ + IR, + DAYLIGHT +}; +static const photoTransistors allIRPTs[] = {IR_FRONT,IR_LEFT,IR_RIGHT,IR_BACK}; + static const photoTransistors allDLPTs[] = {DL_BOTTOM,DL_FRONT}; + -//beinhaltet IR + Tageslicht class LightDetection{ +public: + /** + * @brief initialize the Lightdetection Compnent, must be called before the other methods are used. + * + */ + static void begin(void); + + /** + * @brief reads the Value of the specified sensor + * + * @param sensor which sensor to read + * @return uint the reading of the sensor. between 0-4095 + */ + static uint16_t getValue(photoTransistors sensor); + + /** + * @brief can be used to determine which sensor is exposed to the greatest amount of light + * Can distingish between IR and Daylight + * + * @param type select which PTTransistors to compare + * @return photoTransistors which sensor is exposed to the greatest amount of light + */ + static photoTransistors getBrightest(ptType type); + + /** + * @brief Get the Average of multiple measurments of a single PT + * + * @param sensor Which Phototransistor should be read + * @param measurments how many measurements should be taken + * @param timeBetween which time should elapse between + * @return the average of all taken meaurments + */ + static uint32_t getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween); +protected: + static const uint8_t IR_PT_FRONT_ADC = 3; + static const uint8_t IR_PT_LEFT_ADC = 4; + static const uint8_t IR_PT_RIGHT_ADC = 5; + static const uint8_t IR_PT_BACK_ADC = 6; + + static const uint8_t DL_PT_FRONT_ADC = 7; + static const uint8_t DL_PT_BOTTOM_ADC = 8; + + static const uint8_t DL_PT_ENABLE = 41; + static const uint8_t IR_PT_ENABLE = 40; + + + static void beginInfrared(void); + static void beginDaylight(void); + static uint16_t readIRPT(photoTransistors sensor); + static uint16_t readDLPT(photoTransistors sensor); }; #endif //LightDetection_h \ No newline at end of file