Pololu3piPlus32U4LineSensors.h

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// Copyright (C) Pololu Corporation.  See www.pololu.com for details.
 
 
#pragma once
 
#include <Arduino.h>
#include <FastGPIO.h>
 
namespace Pololu3piPlus32U4
{
 
enum class LineSensorsReadMode : uint8_t {
  Off,
 
  On,
 
  Manual
};
 
class LineSensors
{
public:
  static const uint8_t _sensorCount = 5;
 
  static const uint16_t defaultTimeout = 4000;
 
  static const uint8_t emitterPin = 11;
  static const uint8_t line0Pin = 12;
  static const uint8_t line1Pin = A0;
  static const uint8_t line2Pin = A2;
  static const uint8_t line3Pin = A3;
  static const uint8_t line4Pin = A4;
 
  ~LineSensors();
 
  void setTimeout(uint16_t timeout);
 
  uint16_t getTimeout() { return _timeout; }
 
  void calibrate(LineSensorsReadMode mode = LineSensorsReadMode::On);
 
  void resetCalibration();
 
  void read(uint16_t * sensorValues, LineSensorsReadMode mode = LineSensorsReadMode::On);
 
  void readCalibrated(uint16_t * sensorValues, LineSensorsReadMode mode = LineSensorsReadMode::On);
 
  uint16_t readLineBlack(uint16_t * sensorValues, LineSensorsReadMode mode = LineSensorsReadMode::On)
  {
    return readLinePrivate(sensorValues, mode, false);
  }
 
  uint16_t readLineWhite(uint16_t * sensorValues, LineSensorsReadMode mode = LineSensorsReadMode::On)
  {
    return readLinePrivate(sensorValues, mode, true);
  }
 
 
  struct CalibrationData
  {
    bool initialized = false;
    uint16_t * minimum = nullptr;
    uint16_t * maximum = nullptr;
  };
 
 
  CalibrationData calibrationOn;
 
  CalibrationData calibrationOff;
 
 
  void emittersOn()
  {
    FastGPIO::Pin<emitterPin>::setOutputHigh();
  }
 
  void emittersOff()
  {
    FastGPIO::Pin<emitterPin>::setInput();
  }
 
private:
 
  // Handles the actual calibration, including (re)allocating and
  // initializing the storage for the calibration values if necessary.
  void calibrateOnOrOff(CalibrationData & calibration, LineSensorsReadMode mode);
 
  void readPrivate(uint16_t * sensorValues);
 
  uint16_t readLinePrivate(uint16_t * sensorValues, LineSensorsReadMode mode, bool invertReadings);
 
  uint16_t _timeout = defaultTimeout;
  uint16_t _maxValue = defaultTimeout; // the maximum value returned by readPrivate()
  uint16_t _lastPosition = 0;
};
 
}