Zumo32U4ProximitySensors.h

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// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
 
#pragma once
 
#include <stdint.h>
#include <string.h>
 
static const uint8_t SENSOR_LEFT = 20;
 
static const uint8_t SENSOR_FRONT = 22;
 
static const uint8_t SENSOR_RIGHT = 4;
 
static const uint8_t SENSOR_NO_PIN = 255;
 
class Zumo32U4ProximitySensors
{
public:
 
    static const uint8_t defaultLineSensorEmitterPin = 11;
 
    Zumo32U4ProximitySensors()
    {
        clearAll();
    }
 
    Zumo32U4ProximitySensors(uint8_t * pins, uint8_t numSensors,
        uint8_t lineSensorEmitterPin = defaultLineSensorEmitterPin)
    {
        clearAll();
        init(pins, numSensors, lineSensorEmitterPin);
    }
 
    void initThreeSensors(uint8_t lineSensorEmitterPin = defaultLineSensorEmitterPin)
    {
        uint8_t defaultPins[] = { SENSOR_LEFT, SENSOR_FRONT, SENSOR_RIGHT };
        init(defaultPins, sizeof(defaultPins), lineSensorEmitterPin);
    }
 
    void initFrontSensor(uint8_t lineSensorEmitterPin = defaultLineSensorEmitterPin)
    {
        uint8_t pins[] = { SENSOR_FRONT };
        init(pins, sizeof(pins), lineSensorEmitterPin);
    }
 
    void init(uint8_t * pins, uint8_t numSensors,
        uint8_t lineSensorEmitterPin = defaultLineSensorEmitterPin);
 
    uint8_t getNumSensors() const
    {
        return numSensors;
    }
 
    /* LED parameters **********************************************************/
 
    static const uint16_t defaultPeriod = 420;
 
    static const uint16_t defaultPulseOnTimeUs = 421;
 
    static const uint16_t defaultPulseOffTimeUs = 578;
 
    void setPeriod(uint16_t period)
    {
        this->period = period;
    }
 
    void setBrightnessLevels(uint16_t * levels, uint8_t levelCount);
 
    void setPulseOnTimeUs(uint16_t pulseOnTimeUs)
    {
        this->pulseOnTimeUs = pulseOnTimeUs;
    }
 
    void setPulseOffTimeUs(uint16_t pulseOffTimeUs)
    {
        this->pulseOffTimeUs = pulseOffTimeUs;
    }
 
    uint8_t getNumBrightnessLevels() const
    {
        return numLevels;
    }
 
    /* Basic operations *********************************************************/
 
    void lineSensorEmittersOff();
 
    void pullupsOn();
 
    bool readBasic(uint8_t sensorNumber);
 
    /* Sensor reading ***********************************************************/
 
    void read();
 
    uint8_t countsWithLeftLeds(uint8_t sensorNumber) const;
 
    uint8_t countsWithRightLeds(uint8_t sensorNumber) const;
 
    /* Helper methods for the typical Zumo sensor setup ************************/
 
    uint8_t countsLeftWithLeftLeds() const
    {
        return countsWithLeftLeds(findIndexForPin(SENSOR_LEFT));
    }
 
    uint8_t countsLeftWithRightLeds() const
    {
        return countsWithRightLeds(findIndexForPin(SENSOR_LEFT));
    }
 
    uint8_t countsFrontWithLeftLeds() const
    {
        return countsWithLeftLeds(findIndexForPin(SENSOR_FRONT));
    }
 
    uint8_t countsFrontWithRightLeds() const
    {
        return countsWithRightLeds(findIndexForPin(SENSOR_FRONT));
    }
 
    uint8_t countsRightWithLeftLeds() const
    {
        return countsWithLeftLeds(findIndexForPin(SENSOR_RIGHT));
    }
 
    uint8_t countsRightWithRightLeds() const
    {
        return countsWithRightLeds(findIndexForPin(SENSOR_RIGHT));
    }
 
    bool readBasicLeft()
    {
        return readBasic(findIndexForPin(SENSOR_LEFT));
    }
 
    bool readBasicFront()
    {
        return readBasic(findIndexForPin(SENSOR_FRONT));
    }
 
    bool readBasicRight()
    {
        return readBasic(findIndexForPin(SENSOR_RIGHT));
    }
 
private:
 
    void clearAll();
    void prepareToRead();
    uint8_t findIndexForPin(uint8_t pin) const;
 
    typedef struct SensorData
    {
        uint8_t pin;
        uint8_t withLeftLeds;
        uint8_t withRightLeds;
    } SensorData;
 
    SensorData * dataArray;
    uint8_t numSensors;
 
    uint8_t lineSensorEmitterPin;
 
    uint16_t * levelsArray;
    uint8_t numLevels;
 
    uint16_t period;
    uint16_t pulseOnTimeUs;
    uint16_t pulseOffTimeUs;
};