/*******************************************************************
* Function: float getRightLight(void)
* Input Variables: none
* Output Return: float
* Overview: getRightLight() converts ADC voltage to value inverse proportional to right light
********************************************************************/
float getRightLight( void )
{
float voltage;
ADC_SAMPLE adcsample;
ADC_set_VREF( ADC_VREF_AVCC );
ADC_set_channel( RIGHT_LIGHT_CHAN );
adcsample = ADC_sample();
//LCD_printf( "ADC: %i\n",adcsample);
voltage = adcsample * ( 5.0 / 1024 );
//LCD_printf( "right: %f\n",voltage);
return voltage;
}
int main(int argc, char **argv)
{
initialize();
clear_array();
PORTE = 0;
ADC_enable();
ADC_set_channel(ADC_MUX_ADC5);
ADC_set_prescaler(ADC_PRESCALER_128);
ADC_start();
while(1){
set_array_red(read_ADC(ADC_MUX_ADC5));
}
}
// getRightIR() converts ADC voltage to inches
float getRightIR(){
float voltage;//IR range -0.4 to 5.3 V
float distance;// (cm) 30 cm = 12 inches = 0.4 V
float dist;//distance in inches
ADC_SAMPLE adcsample;
// Set the Voltage Reference first so VREF=5V.
ADC_set_VREF( ADC_VREF_AVCC );
// Set the channel we will sample from.
ADC_set_channel( IRRIGHT_CHAN );
// Now sample it!
adcsample = ADC_sample();
// Convert to meaningful voltage value.
voltage = adcsample * ( 5.0 / 1024 );
// Convert to distance in cm
distance = (2914/(adcsample+5.0))-1.0;
//Convert distance to inches
dist = distance*0.3937;
return dist;
}
/*******************************************************************
* Function: float float getLeftIR(void)
* Input Variables: none
* Output Return: float
* Overview: getLeftIR() converts ADC voltage to inches
********************************************************************/
float getLeftIR( void )
{
float voltage;//IR range -0.4 to 5.3 V
float distance;// (cm) 30 cm = 12 inches = 0.4 V
float dist;//distance in inches
ADC_SAMPLE adcsample;
// Set the Voltage Reference first so VREF=5V.
ADC_set_VREF( ADC_VREF_AVCC );
// Set the channel we will sample from.
ADC_set_channel( IRLEFT_CHAN );
// Now sample it!
adcsample = ADC_sample();
//LCD_printf( "ADC: %i\n",adcsample);
// Convert to meaningful voltage value.
voltage = adcsample * ( 5.0 / 1024 );
// Convert to distance in cm
distance = (2914/(adcsample+5.0))-1.0;
dist = distance*1;
return dist;
}
/*******************************************************************
* Function: float float getFrontIR(void)
* Input Variables: none
* Output Return: float
* Overview: getFrontIR() converts ADC voltage to inches
********************************************************************/
float getFrontIR( void )
{
//1 inch = 2.54 cm
//1 cm = 0.3937 inches
float voltage;//IR range -0.4 to 5.3 V
float distance;// (cm) 30 cm = 12 inches = 0.4 V
float dist;//distance in inches
ADC_SAMPLE adcsample;
// Set the Voltage Reference first so VREF=5V.
ADC_set_VREF( ADC_VREF_AVCC );
// Set the channel we will sample from.
ADC_set_channel(IRFRONT_CHAN);
// Now sample it!
adcsample = ADC_sample();
// Convert to meaningful voltage value.
voltage = adcsample * ( 5.0 / 1024 );
// Convert to distance in cm
distance = (2914/(adcsample+5.0))-1.0;
dist = distance*1;
return dist;
}
