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;
}
//Switches the I2C address of the desired sensor and removes others
void Sensor::SelectSensor(byte sensorNumber) {
if (sensorNumber == sC::FR) { sensGPIO.writeGPIOA(0x7F); SEN_PRINTLN("FR Selected"); }
else if (sensorNumber == sC::LTR) { sensGPIO.writeGPIOA(0xBF); SEN_PRINTLN("LTR Selected"); }
else if (sensorNumber == sC::LTL) { sensGPIO.writeGPIOA(0xDF); SEN_PRINTLN("LTL Selected"); }
else if (sensorNumber == sC::FL) { sensGPIO.writeGPIOA(0xEF); SEN_PRINTLN("FL Selected"); }
else if (sensorNumber == sC::MR) { sensGPIO.writeGPIOA(0xF7); SEN_PRINTLN("MR Selected"); }
else if (sensorNumber == sC::ML) { sensGPIO.writeGPIOA(0xFB); SEN_PRINTLN("ML Selected"); }
else if (sensorNumber == sC::BR) { sensGPIO.writeGPIOA(0xFD); SEN_PRINTLN("BR Selected"); }
else if (sensorNumber == sC::BL) { sensGPIO.writeGPIOA(0xFE); SEN_PRINTLN("BL Selected"); }
else {
ERROR_PRINTLN("Sensor Select Error");
ERROR_PRINTLN("All address lines returned to default");
sensGPIO.writeGPIOA(0xFF);
}
}