mirror of https://github.com/noisymime/Arduino.git
65 lines
1.2 KiB
C++
65 lines
1.2 KiB
C++
#include "ArduinoRobot.h"
|
|
|
|
#if ARDUINO >= 100
|
|
#include "Arduino.h"
|
|
#else
|
|
#include "WProgram.h"
|
|
#endif
|
|
int pul_min[]={0,133,319,494,732};
|
|
int pul_max[]={10,153,339,514,752};
|
|
/*int pul_min[]={0,123,295,471,714};
|
|
int pul_max[]={0,143,315,491,734};*/
|
|
/*
|
|
int pul_min[]={0,133,319,494,732};
|
|
int pul_max[]={10,153,339,514,752};
|
|
*/
|
|
void sort(int* v);
|
|
|
|
void RobotControl::keyboardCalibrate(int *vals){
|
|
for(int i=0;i<5;i++){
|
|
pul_min[i]=vals[i]-10;
|
|
pul_max[i]=vals[i]+10;
|
|
}
|
|
}
|
|
int8_t RobotControl::keyboardRead(void)
|
|
{
|
|
|
|
int lectura_pul;
|
|
int8_t conta_pul=0;
|
|
static int anterior=0;
|
|
|
|
lectura_pul = this->averageAnalogInput(KEY);
|
|
|
|
while ((conta_pul < NUMBER_BUTTONS) && !(lectura_pul >= pul_min[conta_pul] && lectura_pul <= pul_max[conta_pul]))
|
|
conta_pul++;
|
|
|
|
if (conta_pul >= NUMBER_BUTTONS)
|
|
conta_pul = -1;
|
|
else
|
|
delay(100);
|
|
|
|
return conta_pul;
|
|
}
|
|
|
|
int RobotControl::averageAnalogInput(int pinNum)
|
|
{
|
|
int vals[5];
|
|
for(int i=0;i<5;i++){
|
|
for(int j=i;j<5;j++){
|
|
vals[j]=::analogRead(pinNum);
|
|
}
|
|
sort(vals);
|
|
}
|
|
return vals[0];
|
|
}
|
|
void sort(int* v){
|
|
int tmp;
|
|
for(int i=0;i<4;i++)
|
|
for(int j=i+1;j<5;j++)
|
|
if(v[j]<v[i]){
|
|
tmp=v[j];
|
|
v[j]=v[i];
|
|
v[i]=tmp;
|
|
}
|
|
v[0]=v[3];
|
|
} |