implemented basic ligthdetection

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;
+};