task main()
{
//Create and configure struct for the compass:
// Create struct to hold sensor data:
tHTMC compass;
// Initialise and configure struct and port:
initSensor(&compass, S4);
//Define destination coordinates:
long destLat = 0; // Add the latitude destination here.
long destLong = 0; // Add the longitude destination here.
long GPSrelHeading;
long distance;
DGPSsetDestination(DGPS, destLat, destLong);
while (DGPSreadDistToDestination(DGPS) > 0) //Travelling to destination
{
GPSrelHeading = DGPSreadRelHeading(DGPS);
distance = DGPSreadDistToDestination(DGPS);
// Here, the relative heading of the GPS is set as the target heading of the compass;
// a compass.relativeHeading of 0 means the destination is straight ahead, > 0 heading means it
// is to the left, and < 0 means the dest is to the right.
readSensor(&compass);
compass.offset = GPSrelHeading;
displayTextLine(3, "GPSRelHead: %d", GPSrelHeading);
readSensor(&compass);
displayTextLine(5, "CompRelHead: %d", compass.relativeHeading);
displayTextLine(7, "Distance: %d", distance);
setMotorSpeed(LEFT, 75);
setMotorSpeed(RIGHT, 75);
readSensor(&compass);
if (compass.relativeHeading > 5) //If car is right of dest., turn left
{
steerLeft();
}
else if (compass.relativeHeading < -5) //If car is left of dest., turn right
{
steerRight();
}
else //dest. is forward
{
steerRecenter();
}
sleep(1000);
}
//Destination reached
setMotorSpeed(LEFT, 0);
setMotorSpeed(RIGHT, 0);
steerRecenter();
}
void ssThread::checkSensor(){
int res;
res = readSensor(PIN_FLAME);
if (res == 0)
Flame = true;
res = readSensor(PIN_SHAKE);
if (res == 1)
Shake =true;
res = readSensor(PIN_SMOKE);
if (res == 1)
Smoke =true;
}
int readAllSensors()
{
for (int i = 0; i < numOfRegToRead; i++)
{
readSensor(i);
}
}
/**********************************************************
* GetTemperature
* Gets the current temperature from the sensor.
*
* @return float - The temperature in Deg C
**********************************************************/
float SHT2xClass::GetTemperature(void)
{
float data = readSensor(eTempNoHoldCmd);
if (isnan(data))
return NAN;
return (-46.85 + 175.72 * (data / 65536.0));
}
task main ()
{
// This struct holds all the sensor related data
tDIMC compass;
tSensors DIMC = S1;
// Our local variables
short strength = 0;
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
// Loop forever, reading the sensor and calulating total
// field strength
while (true)
{
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
// calculate the field strength
strength = sqrt(pow(compass.axes[0], 2) + pow(compass.axes[1], 2) + pow(compass.axes[2], 2));
// Play a tone of the frequency of the field strength
// Great for annoying the cat/dog/wife/parent
playImmediateTone(strength, 8);
// display on the screen
displayCenteredBigTextLine(3, "%d", strength);
sleep(50);
}
}
void AC_RotatingPot::poll() {
int sensor = readSensor();
if (ignoring != 0) {
if ((ignoring == +1 && sensor < reference)
|| (ignoring == -1 && sensor > reference)) {
ignoring = 0;
}
reference = sensor;
}
if (ignoring == 0) {
int valueDelta = (sensor - reference) / sensitivity;
if (inverted) {
valueDelta = -valueDelta;
}
int valueNew = valueOffset + valueDelta;
if (value != valueNew) {
value = valueNew;
if (changeHandler != NULL) {
changeHandler();
}
}
if (sensor == 0 || sensor == 1023) {
valueOffset += valueDelta;
// prevent long-term overflows by taking modulo if needed
valueOffset = getModuloValue(valueOffset);
ignoring = (sensor == 0) ? +1 : -1;
reference = sensor;
}
}
}
int main(void) {
unsigned int nextTime;
short flip;
if (wiringPiSetup () == -1)
{
fprintf (stdout, "Unable to start wiringPi: %s\n", strerror (errno)) ;
fflush(stdout);
return 1;
}
i2c = wiringPiI2CSetup (0x39);
if (i2c == -1)
{
fprintf (stdout, "Unable to start I2C wiringPi: %s\n", strerror (errno)) ;
fflush(stdout);
return 1;
}
wiringPiI2CWriteReg8(i2c, 0x80, 0x03);
nextTime = millis() + TIME_DELAY+400;
int x = 0;
for (;x<500;x++){
//startReading();
flip = !flip;
flipper(flip);
while (millis() < nextTime) {
}
readSensor();
nextTime+=TIME_DELAY;
}
}
task main () {
// declare and initialise the sensor
tTIR tir;
initSensor(&tir, S1);
displayCenteredTextLine(0, "Dexter Industries");
displayCenteredTextLine(1, "Thermal Infrared");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// set emissivity for light skin
setEmissivity(&tir, TIR_EM_SKIN_LIGHT);
sleep(200);
displayCenteredTextLine(0, "Dexter Industries");
displayCenteredTextLine(1, "Thermal Infrared");
while (true) {
// Read the currently detected ambient and object temp from the sensor
readSensor(&tir);
displayTextLine(3, "A: %3.2f", tir.ambientTemp);
displayTextLine(4, "O: %3.2f", tir.objectTemp);
sleep(100);
}
}
task main(){
// This struct holds all the sensor related data
tDIMC compass;
displayCenteredTextLine(0, "Dexter Ind.");
displayCenteredBigTextLine(1, "dCompass");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
sleep(100);
while (true){
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
displayCenteredBigTextLine(2, "%3.2f", compass.heading);
displayTextLine(5, "%d", compass.axes[0]);
displayTextLine(6, "%d", compass.axes[1]);
displayTextLine(7, "%d", compass.axes[2]);
sleep(50);
}
}
/**********************************************************
* GetHumidity
* Gets the current humidity from the sensor.
*
* @return float - The relative humidity in %RH
**********************************************************/
float SHT2xClass::GetHumidity(void)
{
float data = readSensor(eRHumidityNoHoldCmd);
if (isnan(data))
return NAN;
return (-6.0 + 125.0 * (data / 65536.0));
}
void DHTSensor::TypeDetection()
{
//Test de detection de modele:
SensorType = 22;
readSensor();
//Type de Capteur:
SensorType = (ErrorLevel==2)?11:(ErrorLevel==3)?0:22;
}
float getDistanceBySoner()
{
int analog_input = 0;
analog_input = readSensor(SENSOR_ANALOG_SIGNAL); //アナログ値取得
return ((6450.0/1023.0)*(float)analog_input); //アナログ値[v]→距離[mm]
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "600 and 1200 Hz");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S1);
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
// display the current DSP mode
if (irSeeker.mode == DSP_1200)
displayTextLine(0, " DC 1200");
else
displayTextLine(0, " DC 600");
while (true)
{
if (getXbuttonValue(xButtonEnter))
{
// "Enter" button has been pressed. Need to switch mode
irSeeker.mode = (irSeeker.mode == DSP_1200) ? DSP_600 : DSP_1200;
while(getXbuttonValue(xButtonEnter))
{
sleep(1);
}
break;
}
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d %4d 3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d %d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d %4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d %4d %3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d %4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d %4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
}
}
}
//AnalogInputに接続した超音波センサから距離を取得するメソッド
double getDistanceBySoner()
{
int analog_input = 0;
analog_input = readSensor(SENSOR_ANALOG_SIGNAL); //アナログ値取得
return ((645.0/1023.0)*(double)analog_input); //アナログ値[v]→距離[cm]
}
/**
* Hug Front Wall
*/
void hugFrontWall(int LSensorVal, int RSensorVal) {
while (1) {
int curt = micros(); //start to track time in order to make one adjust every 1000us
readSensor();
setLeftPwm(LSensorVal - LFSensor);
setRightPwm(RSensorVal - RFSensor);
elapseMicros(1000, curt); //elapse 1000 micro seconds
}
}
void DHTSensor::begin(uint8_t ConnectPin)
{
Pin = ConnectPin;
TypeDetection();
delay((SensorType==22)?DHTMaxFreq:0.5*DHTMaxFreq);
readSensor();
errorlevel();
Temp = getTemperature();
Hum = getTemperature();
}
task main()
{
motor[lift] = 0;
//waitForStart();
initializeRobot();
int centerGoal;
moveForward(2.5);
wait10Msec(50);
readSensor(&irSeeker);
centerGoal = irSeeker.acDirection;
displayTextLine(1, "D:%4d", irSeeker.acDirection);
if(centerGoal >= 0 && centerGoal <= 3)
{
playSound(soundBeepBeep);
turnRight(90);
wait10Msec(50);
moveForward(1.5);
wait10Msec(50);
}
else if(centerGoal > 3 && centerGoal < 5)
{
playSound(soundDownwardTones);
moveBackward(1);
wait10Msec(50);
turnRight(70);
wait10Msec(50);
moveForward(2);
wait10Msec(50);
}
else if(centerGoal >= 5 && centerGoal <= 9)
{
playSound(soundFastUpwardTones);
moveBackward(2);
wait10Msec(50);
turnRight(90);
wait10Msec(50);
moveForward(1);
wait10Msec(50);
}
else
{
stopBot();
}
}
task main()
{
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S3);
int leftSpeed = 40;
int rightSpeed = 40;
OpenWrite(
while (true)
{
int leftSum = irSeeker.dcValues[0] + irSeeker.dcValues[1];
int rightSum = irSeeker.dcValues[3] + irSeeker.dcValues[4];
if (leftSum < rightSum && rightSum - leftSum > 22)
{
leftSpeed = 40;
rightSpeed = -40;
}
else if (rightSum < leftSum && leftSum - rightSum > 22)
{
leftSpeed = -40;
rightSpeed = 40;
}
else
{
leftSpeed = -40;
rightSpeed = -40;
}
motor[frontRight] = rightSpeed;
motor[backRight] = rightSpeed;
motor[frontLeft] = leftSpeed;
motor[backLeft] = leftSpeed;
readSensor(&irSeeker);
writeDebugStreamLine("irSeeker values");
for (int i = 0; i < 5; i++)
{
writeDebugStreamLine("irSeeker[%d]: %d", i, irSeeker.dcValues[i]);
}
for (int i = 0; i < 5; i++)
{
writeDebugStreamLine("irSeeker[%d]: %d", i, irSeeker.dcValues[i]);
}
writeDebugStreamLine("-----------------------");
wait1Msec(50);
}
}
task main () {
displayTextLine(0, "HT Gyro");
displayTextLine(1, "Test 1");
displayTextLine(5, "Press enter");
displayTextLine(6, "to set relative");
displayTextLine(7, "heading");
sleep(2000);
eraseDisplay();
// Create struct to hold sensor data
tHTGYRO gyroSensor;
// Initialise and configure struct and port
initSensor(&gyroSensor, S1);
time1[T1] = 0;
while(true) {
if (time1[T1] > 1000) {
eraseDisplay();
displayTextLine(1, "Resetting");
displayTextLine(1, "offset");
sleep(500);
// Start the calibration and display the offset
sensorCalibrate(&gyroSensor);
displayTextLine(2, "Offset: %f", gyroSensor.offset);
playSound(soundBlip);
while(bSoundActive) sleep(1);
time1[T1] = 0;
}
while(!getXbuttonValue(xButtonEnter)) {
eraseDisplay();
displayTextLine(1, "Reading");
// Read the current rotational speed
readSensor(&gyroSensor);
// Read the current calibration offset and display it
displayTextLine(2, "Offset: %4f", gyroSensor.offset);
displayClearTextLine(4);
// Read the current rotational speed and display it
displayTextLine(4, "Gyro: %4f", gyroSensor.rotation);
displayTextLine(6, "Press enter");
displayTextLine(7, "to recalibrate");
sleep(100);
}
}
}
void Maxbotix::readSample()
{
// read
for (int i = 0; i < sample_size; i++) {
sample[i] = readSensor();
if (input == AN && i != sample_size - 1)
delay(ad_sample_delay);
}
// sort
sortSample();
}
/* * * * * * * * * *
* Systick Handler *
* * * * * * * * * */
void systick()
{
if (b_useIR)
{
readSensor();
}
if (b_useGyro)
{
readGyro();
}
if (b_useSpeedProfile)
{
speedProfile();
}
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IRSeekr2");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
// Initialise and configure struct and port
initSensor(&irSeeker, msensor_S3_2);
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
displayCenteredTextLine(0, "DC 1200");
while (true)
{
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d:%4d:3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d:%d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d:%4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d:%4d:%3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d:%4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d:%4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
sleep(500);
}
}
void DHT::setup(uint8_t pin, DHT_MODEL_t model)
{
DHT::pin = pin;
DHT::model = model;
DHT::resetTimer(); // Make sure we do read the sensor in the next readSensor()
if ( model == AUTO_DETECT) {
DHT::model = DHT22;
readSensor();
if ( error == ERROR_TIMEOUT ) {
DHT::model = DHT11;
// Warning: in case we auto detect a DHT11, you should wait at least 1000 msec
// before your first read request. Otherwise you will get a time out error.
}
}
}
int main(void)
{
int value = 1;
// Setup the sensor ready for captures
setup();
// Loop forever
while(1) {
uint32_t sensorDiff[8] = {0};
// Read in the current sensor reading
readSensor(sensorDiff);
std::cout << "Sensor values ";
// Go through each sensor, outputting its level
for(size_t i = 0; i < 8; i++) {
if(sensorDiff[i] <= WHITE_LEVEL) {
std::cout << "0";
}
else {
std::cout << "1";
}
if(i < 7) {
std::cout << ":";
}
}
std::cout << std::endl;
// Sleep for a second before taking the next reading
sleep(1);
}
// We currently never get here, but if in future we
// do then tidy up
gpioNotifyClose(notifyPipe);
gpioTerminate();
return EXIT_SUCCESS;
}
void loop()
{
byte payload[PAYLOAD_SIZE];
int *payload_int = (int *) payload;
listen(payload);
if (payload[0] >= SENSOR_CNT)
{
payload[0] = (byte) 'E';
send(payload);
}
else
{
payload_int[0] = readSensor(payload[0]);
send(payload);
}
}
task main () {
string _tmp;
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "Color V2");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
// Create struct to hold sensor data
tHTCS2 colorSensor;
// Initialise and configure struct and port
initSensor(&colorSensor, S1);
eraseDisplay();
while (true)
{
// Read the currently detected colour and RGB/HSV data from the sensor
if (!readSensor(&colorSensor)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredTextLine(0, "Color: %d", colorSensor.color);
displayCenteredBigTextLine(1, "R G B");
eraseRect(0,10, 99, 41);
fillRect( 0, 10, 30, 10 + (colorSensor.red+1)/8);
fillRect(35, 10, 65, 10 + (colorSensor.green+1)/8);
fillRect(70, 10, 99, 10 + (colorSensor.blue+1)/8);
StringFormat(_tmp, " %3d %3d", colorSensor.red, colorSensor.green);
displayTextLine(7, "%s %3d", _tmp, colorSensor.blue);
sleep(100);
}
}
// The real aquire function
Humiditysensor DHTHUMIDITY::readHumidity()
{
float u,t;
if (readSensor()) {
switch (sensor.Type) {
case DHT11:
u = data[0];
t = data[2];
break;
case DHT22:
case DHT21:
u = data[0];
u *= 256;
u += data[1];
u /= 10;
t = data[2] & 0x7F;
t *= 256;
t += data[3];
t /= 10;
if (data[2] & 0x80) t *= -1;
break;
default:
u = 0;
t = 0;
break;
}
} else {
Serial.print("Read fail");
u = -1;
t = -1;
}
sensor.TemperatureC = t;
sensor.TemperatureF = convertCtoF(t);
sensor.Humidity = u;
return(sensor);
}
float Maxbotix::getRange()
{
float range;
readSample();
switch (filter) {
case MEDIAN:
range = getSampleMedian();
break;
case HIGHEST_MODE:
range = getSampleMode(true);
break;
case LOWEST_MODE:
range = getSampleMode(false);
break;
case SIMPLE:
while (sample[0] != sample[sample_size - 1])
pushToSample(readSensor());
range = sample[0];
break;
case BEST:
range = getSampleBest();
break;
case NONE:
default:
range = sample[0];
break;
}
return range;
}
task main () {
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "TMUX");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "This is for the");
displayCenteredTextLine(6, "Touch MUX");
sleep(2000);
// Create struct to hold sensor data
tHTTMUX touchMUX;
// Initialise and configure struct and port
initSensor(&touchMUX, S1);
while (true) {
eraseDisplay();
displayTextLine(0, "HT Touch MUX");
// Read the data from the sensor
readSensor(&touchMUX);
// Go through each possible touch switch attached to the TMUX
// and display whether or not is active (pressed)
for (short i = 0; i < 4; i++) {
if (touchMUX.status[i])
displayTextLine(i+2, "Touch %d: on", i+1);
else
displayTextLine(i+2, "Touch %d: off", i+1);
}
// Display the binary value of the active touch switches
// 0 = no touch, 1 = touch 1 active, 2 = touch 2 active, etc.
// touch 1 + touch 2 active = 1 + 2 = 3.
displayTextLine(7, "Mask: %d", touchMUX.statusMask);
sleep(50);
}
}
task main () {
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "Accel");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
playSound(soundBeepBeep);
while(bSoundActive) sleep(1);
// Create struct to hold sensor data
tHTAC accelerometer;
// Initialise and configure struct and port
initSensor(&accelerometer, S1);
while (true) {
eraseDisplay();
// Read all of the axes at once
if (!readSensor(&accelerometer)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayTextLine(0,"HTAC Test 1");
displayTextLine(2, " X Y Z");
displayTextLine(3, "%4d %4d %4d", accelerometer.x, accelerometer.y, accelerometer.z);
// Alternatively, you can read them like this:
displayTextLine(4, "%4d %4d %4d", accelerometer.axes[0], accelerometer.axes[1], accelerometer.axes[2]);
sleep(100);
}
}
