void Sensor::initSensors() {
sensGPIO.begin(1);
//Address pins
sensGPIO.pinMode(FRPIN, OUTPUT);
sensGPIO.pinMode(LTRPIN, OUTPUT);
sensGPIO.pinMode(LTLPIN, OUTPUT);
sensGPIO.pinMode(FLPIN, OUTPUT);
sensGPIO.pinMode(MRPIN, OUTPUT);
sensGPIO.pinMode(MLPIN, OUTPUT);
sensGPIO.pinMode(BRPIN, OUTPUT);
sensGPIO.pinMode(BLPIN, OUTPUT);
//-------Set all sensor select pins to high---------------
sensGPIO.writeGPIOA(0xFF);
//Ultrasonic pins
pinMode(A0, OUTPUT);
pinMode(A1, INPUT);
for (byte i = sC::FR; i < sC::invalid; i++) {
SelectSensor(i);
tsl.begin(TSL2561_ADDR_0);
tsl.setTiming(TSL2561_GAIN_16X, TSL2561_INTEGRATIONTIME_14MS);
tsl.setPowerUp();
}
delay(14);
_sensorInitComplete = true;
}
//Polls all given sensors in the order specified.
void Sensor::PollSensors(Sensor *sens, const sC::sensorNumber *order, const byte OrderLength){
if (_sensorInitComplete == false) {
ERROR_PRINTLN("Please call initSensors() before attempting to poll");
return;
}
sC::sensorNumber currentSensorIndex = sC::FR;
for (byte n = 0; n < OrderLength; n++) {
currentSensorIndex = order[n];
SelectSensor(static_cast<byte>(currentSensorIndex));
SLASTVAL(currentSensorIndex, RVAL(currentSensorIndex));
sens[currentSensorIndex].GetReading();
SVAL(currentSensorIndex, sens[currentSensorIndex].tileWhite);
}
printbw();
}
// closes down all streams the restores to default configuration
void KinectSensor::Close()
{
AutoLock lock(m_nuiLock);
SelectSensor(false);
}
// initialization
HRESULT KinectSensor::Open()
{
AutoLock lock(m_nuiLock);
return SelectSensor(true);
}
// closes down all streams the restores to default configuration
void KinectSensor::Close()
{
SelectSensor( false );
}
// initialization
HRESULT KinectSensor::Open()
{
return SelectSensor( true );
}
