Merge branch 'feature/#6-lightdetection' into feature/#16-find-a-friend

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
 

src/Dezibot.cpp

@@ -8,4 +8,5 @@
 
 void Dezibot::begin(void) {
     infraredLight.begin();
+    lightDetection.begin();    
 }

src/Dezibot.h

@@ -18,6 +18,7 @@
 #include "motionDetection/MotionDetection.h"
 #include "infraredLight/InfraredLight.h"
 
+
 class Dezibot {
 protected:
 

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;
+};

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 <stdint.h>
+#include <Arduino.h>
+
+
+
+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