void Pololu3pi::init(unsigned int line_sensor_timeout_us, unsigned char disable_emitter_pin)
{
// Set up the line sensor and turn off the emitters.
// The sensors are on PC0..4, and the emitter is on PC5.
unsigned char pins[5] = {14,15,16,17,18};
if(disable_emitter_pin)
qtr3pi.init(pins,5,line_sensor_timeout_us,255);
else
qtr3pi.init(pins,5,line_sensor_timeout_us,19);
qtr3pi.emittersOff();
#ifndef ARDUINO
// reset the time in lib-pololu mode only
OrangutanTime::reset();
#endif
}
void test_qtr()
{
OrangutanLCD::clear();
OrangutanLCD::print(sizeof(PololuQTRSensorsAnalog));
delay_ms(1000);
OrangutanLCD::clear();
// Load bar graph characters.
// Together with space and the solid block at 255, this makes almost
// all possible bar heights, with two to spare.
unsigned char i;
for(i=0;i<6;i++)
{
OrangutanLCD::loadCustomCharacter(bars+i,i);
}
OrangutanLCD::loadCustomCharacter(left_bar,6);
OrangutanLCD::loadCustomCharacter(right_bar,7);
// test RC
unsigned int values[5];
// raw values
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
OrangutanLCD::clear();
qtr.read(values);
printf("IR+ %4ud",values[0]);
display_values(values,2000);
qtr.calibrate(QTR_EMITTERS_ON);
assert(qtr.calibratedMaximumOn != 0); // make sure the malloc worked
assert(qtr.calibratedMinimumOn != 0); // make sure the malloc worked
OrangutanLCD::gotoXY(5,1);
// OrangutanLCD::print(qtr.calibratedMinimumOn[0]);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
// calibrated values
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
qtr.readCalibrated(values);
OrangutanLCD::clear();
printf("C + %4ud",values[0]);
display_values(values,1000);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
// off values
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
OrangutanLCD::clear();
qtr.read(values,QTR_EMITTERS_OFF);
printf("IR- %4ud",values[0]);
display_values(values,2000);
qtr.calibrate(QTR_EMITTERS_OFF);
assert(qtr.calibratedMaximumOff != 0); // make sure the malloc
// worked
assert(qtr.calibratedMinimumOff != 0); // make sure the malloc worked
OrangutanLCD::gotoXY(5,1);
OrangutanLCD::print(qtr.calibratedMinimumOff[0]);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
// calibrated values
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
qtr.readCalibrated(values, QTR_EMITTERS_OFF);
OrangutanLCD::clear();
printf("C - %4ud",values[0]);
display_values(values,1000);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
OrangutanLCD::clear();
qtr.read(values,QTR_EMITTERS_ON_AND_OFF);
printf("IR+-%4ud",values[0]);
display_values(values,2000);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
// calibrated values
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
qtr.readCalibrated(values, QTR_EMITTERS_ON_AND_OFF);
OrangutanLCD::clear();
printf("C +-%4ud",values[0]);
display_values(values,1000);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
// line detection
while(!OrangutanPushbuttons::isPressed(ALL_BUTTONS))
{
unsigned int pos = qtr.readLine(values);
OrangutanLCD::clear();
// we want pos = 0-499 to print zero spaces, etc
unsigned char spaces = (pos+500)/1000;
for(i=0;i<spaces;i++)
OrangutanLCD::print(' ');
// print the bar to the left, middle, or right, as appropriate
if(pos == 0)
OrangutanLCD::print((char)6); // all the way on the left
else if(pos == 4000)
OrangutanLCD::print((char)7); // all the way on the right
else if((pos+500)%1000 <= 333)
OrangutanLCD::print((char)6);
else if((pos+500)%1000 <= 666)
OrangutanLCD::print('|');
else OrangutanLCD::print((char)7);
display_values(values,1000);
delay_ms(50);
}
OrangutanPushbuttons::waitForButton(ALL_BUTTONS);
}
extern "C" unsigned int read_line_white(unsigned int *sensor_values, unsigned char readMode)
{
return qtr3pi.readLine(sensor_values, readMode, 1);
}
extern "C" void read_line_sensors_calibrated(unsigned int *sensor_values, unsigned char readMode)
{
qtr3pi.readCalibrated(sensor_values, readMode);
}
extern "C" void line_sensors_reset_calibration()
{
qtr3pi.resetCalibration();
}
extern "C" void calibrate_line_sensors(unsigned char readMode)
{
qtr3pi.calibrate(readMode);
}
extern "C" void emitters_off()
{
qtr3pi.emittersOff();
}
extern "C" void emitters_on()
{
qtr3pi.emittersOn();
}
extern "C" void read_line_sensors(unsigned int *sensor_values, unsigned char readMode)
{
return qtr3pi.read(sensor_values, readMode);
}
unsigned int Pololu3pi::readLine(unsigned int *sensor_values, unsigned char readMode, unsigned char white_line)
{
return qtr3pi.readLine(sensor_values, readMode, white_line);
}
void Pololu3pi::readLineSensorsCalibrated(unsigned int *sensor_values, unsigned char readMode)
{
qtr3pi.readCalibrated(sensor_values, readMode);
}
void Pololu3pi::lineSensorsResetCalibration()
{
qtr3pi.resetCalibration();
}
void Pololu3pi::calibrateLineSensors(unsigned char readMode)
{
qtr3pi.calibrate(readMode);
}
void Pololu3pi::emittersOff()
{
qtr3pi.emittersOff();
}
void Pololu3pi::readLineSensors(unsigned int *sensor_values, unsigned char readMode)
{
return qtr3pi.read(sensor_values, readMode);
}
