/*******************************************************************
* Function: void checkIR(void)
* Input Variables: none
* Output Return: none
* Overview: This function update all of the infrared range
* finding sensor values sequentially
********************************************************************/
void checkIR( void )
{
// Update all IR values
ftIR = getFrontIR();
bkIR = getBackIR();
ltIR = getLeftIR();
rtIR = getRightIR();
}
void getIR()
{
ft = getFrontIR();
bk = getBackIR();
rt = getRightIR();
lt = getLeftIR();
frontRight = ATTINY_get_IR_state(ATTINY_IR_RIGHT);
frontLeft = ATTINY_get_IR_state(ATTINY_IR_LEFT);
}
/*
* a function that can test that sensor data can be output
* to the LCD display in a meaningful manner and the normal
* printf still works correctly
*/
void pixel_sensor_test(void) {
while(checkNoBtns()) {
TMRSRVC_delay(100);
LCD_clear();
float leftIR = getLeftIR();
float rightIR = getRightIR();
float trimLeftIR = trim(2*leftIR, 0, LCD_PIX_WIDTH/2);
float trimRightIR = trim(2*rightIR, 0, LCD_PIX_WIDTH/2);
for(unsigned char i = 0; i < LCD_PIX_HEIGHT; i++) {
LCD_set_pixel(i, LCD_PIX_WIDTH/2, i & 1);
LCD_set_pixel(i, LCD_PIX_WIDTH/2 - trimLeftIR, 1);
LCD_set_pixel(i, LCD_PIX_WIDTH/2-1 + trimRightIR, 1);
}
LCD_set_RC( 0, 0 );
LCD_printf("%.1f", (double)leftIR);
LCD_set_RC( 0, 16 );
LCD_printf("%.1f", (double)rightIR);
}
}
bool IR::detectLeft() {
//Detects white on the left
return getLeftIR()>THRESHOLD;
}
