Andrew's git - arduino-weather.git/blob - libraries/Mitov/Mitov_LEGO_RCX

   1////////////////////////////////////////////////////////////////////////////////
   2//                                                                            //
   3//     This software is supplied under the terms of a license agreement or    //
   4//     nondisclosure agreement with Mitov Software and may not be copied      //
   5//     or disclosed except in accordance with the terms of that agreement.    //
   6//         Copyright(c) 2002-2016 Mitov Software. All Rights Reserved.        //
   7//                                                                            //
   8////////////////////////////////////////////////////////////////////////////////
   9
  10// http://www.legolab.daimi.au.dk/CSaEA/RCX/Manual.dir/Sensors.dir/Sensors.html
  11// https://seriousrobotics.wordpress.com/2011/11/20/using-rcx-lego-sensors-with-arduino/
  12
  13#ifndef _MITOV_LEGO_RCX_LIGHT_SENSOR_h
  14#define _MITOV_LEGO_RCX_LIGHT_SENSOR_h
  15
  16#include <Mitov.h>
  17
  18namespace Mitov
  19{
  20        template<int DIGITAL_PIN_NUMBER, int ANALOG_PIN_NUMBER> class LEGO_RCX_LightSensor : public Mitov::CommonEnableSource, public Mitov::ClockingSupport
  21        {
  22                typedef Mitov::CommonEnableSource inherited;
  23
  24        public:
  25                uint32_t ChargePeriod = 2;
  26                uint32_t MinValue = 90;
  27                uint32_t MaxValue = 160;
  28
  29                bool Normalize : 1;
  30
  31        protected:
  32                bool                    FHasValue : 1;
  33
  34                float                   FValue;
  35                unsigned long   FStartTime;
  36
  37        protected:
  38
  39                virtual void SystemStart() override
  40                {
  41                        inherited::SystemStart();
  42                        FStartTime = micros();
  43                        pinMode( DIGITAL_PIN_NUMBER, OUTPUT );
  44                        digitalWrite( DIGITAL_PIN_NUMBER, HIGH );
  45                }
  46
  47                virtual void SystemLoopBegin( unsigned long currentMicros ) override
  48                {
  49                        if( ( currentMicros - FStartTime ) >= ChargePeriod * 1000 )
  50                        {
  51                                pinMode( DIGITAL_PIN_NUMBER, INPUT );
  52
  53                                analogRead( ANALOG_PIN_NUMBER ); // Give some settle time
  54                                FValue = analogRead( ANALOG_PIN_NUMBER );
  55                                if( Normalize )
  56                                        FValue = ( FValue - MinValue ) / (MaxValue - MinValue);
  57
  58                                pinMode( DIGITAL_PIN_NUMBER, OUTPUT );
  59                                digitalWrite( DIGITAL_PIN_NUMBER, HIGH );
  60                                FHasValue = true;
  61
  62                                FStartTime = micros();
  63                        }
  64
  65                        if( ! ClockInputPin.IsConnected() )
  66                                ReadSensor();
  67
  68                        inherited::SystemLoopBegin( currentMicros );
  69                }
  70
  71        protected:
  72                void ReadSensor()
  73                {
  74                        if( FHasValue )
  75                                OutputPin.Notify( &FValue );
  76                }
  77
  78        protected:
  79                virtual void DoClockReceive( void *_Data ) override
  80                {
  81                        ReadSensor();
  82                }
  83
  84        public:
  85                LEGO_RCX_LightSensor() :
  86                        FHasValue( false ),
  87                        Normalize( true )
  88                {
  89                }
  90        };
  91}
  92
  93#endif