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/example/example.ino b/example/example.ino index 7f2768b..65b379f 100644 --- a/example/example.ino +++ b/example/example.ino @@ -1,18 +1,15 @@ -#include #include -#define GPIO_LED 48 - Dezibot dezibot = Dezibot(); void setup() { - dezibot.begin(); - Serial.begin(9600); + Serial.begin(115200); + Serial.println("Started"); + dezibot.begin(); + Serial.println("Inited"); } void loop() { - Serial.println("FooBarBaz"); Serial.println(dezibot.lightDetection.getValue(DL_FRONT)); delay(1000); - } diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp index a961ddb..f970cdb 100644 --- a/src/Dezibot.cpp +++ b/src/Dezibot.cpp @@ -4,26 +4,6 @@ #include "Dezibot.h" -#include -#include -#include -#include - - -#define SCREEN_WIDTH 128 // OLED display width, in pixels -#define SCREEN_HEIGHT 64 // OLED display height, in pixels - -// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins) -// The pins for I2C are defined by the Wire-library. -// On an arduino UNO: A4(SDA), A5(SCL) -// On an arduino MEGA 2560: 20(SDA), 21(SCL) -// On an arduino LEONARDO: 2(SDA), 3(SCL), ... -#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin) -#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32 - -Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET); - -#define GPIO_LED 48 void Dezibot::begin(void) { lightDetection.begin(); 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 ca10a98..f811515 100644 --- a/src/lightDetection/LightDetection.h +++ b/src/lightDetection/LightDetection.h @@ -14,6 +14,8 @@ #include #include + + enum photoTransistors{ IR_LEFT, IR_RIGHT, @@ -23,10 +25,21 @@ enum photoTransistors{ 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}; + class LightDetection{ public: @@ -34,7 +47,7 @@ public: * @brief initialize the Lightdetection Compnent, must be called before the other methods are used. * */ - void begin(void); + static void begin(void); /** * @brief reads the Value of the specified sensor @@ -42,7 +55,7 @@ public: * @param sensor which sensor to read * @return uint the reading of the sensor. between 0-4095 */ - uint16_t getValue(photoTransistors sensor); + static uint16_t getValue(photoTransistors sensor); /** * @brief can be used to determine which sensor is exposed to the greatest amount of light @@ -51,7 +64,7 @@ public: * @param type select which PTTransistors to compare * @return photoTransistors which sensor is exposed to the greatest amount of light */ - photoTransistors getBrightest(ptType type); + static photoTransistors getBrightest(ptType type); /** * @brief Get the Average of multiple measurments of a single PT @@ -61,7 +74,7 @@ public: * @param timeBetween which time should elapse between * @return the average of all taken meaurments */ - uint32_t getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween); + 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; @@ -73,10 +86,17 @@ protected: static const uint8_t DL_PT_ENABLE = 41; static const uint8_t IR_PT_ENABLE = 40; - void beginInfrared(void); - void beginDaylight(void); - uint16_t readIRPT(photoTransistors sensor); - uint16_t readDLPT(photoTransistors sensor); + + + static void beginInfrared(void); + static void beginDaylight(void); + static uint16_t readIRPT(photoTransistors sensor); + static uint16_t readDLPT(photoTransistors sensor); + + static void averageMeasurmentTask(void * args); + + + };