LineFollowingRobotFirmware/input.h.home at master · john-curry/LineFollowingRobotFirmware · GitHub

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#ifndef INPUT_H
jdefine INPUT_H
#define STR_MAX 4 /* assume 8 byte char so fits in a 32 bit register */
#define INPUTS_MAX 32
#include <stdbool.h>
#include "stm32f4_discovery.h"
#include "stm32f4xx_tim.h"
#include "stm32f4xx_adc.h"
#define NUM_INPUTS 7
/* defines the datastructure for the IR sensor input raw data */
typedef struct _input_types {
  uint16_t  data[NUM_INPUTS];
  char      input_name[STR_MAX];
} Input;

/* On black */
static uint16_t sensor_high[NUM_INPUTS] = {
  3300,
  3100,
  3000,
  3200,
  2100,
  3100,
  3200
};

/* On white */
static uint16_t sensor_low[NUM_INPUTS] = {
  2800,
  2500,
  2300,
  2800,
  1300,
  2800,
  2800
};

static uint8_t pins[NUM_INPUTS] = {
  0b00000000,
  0b00000001,
  0b00000010,
  0b00000011,
  0b00000100,
  0b00000101,
  0b00000110
};

static uint8_t channels[NUM_INPUTS] = {
  ADC_Channel_8,
  ADC_Channel_9,
  ADC_Channel_11,
  ADC_Channel_12,
  ADC_Channel_13,
  ADC_Channel_14,
  ADC_Channel_15
};

bool is_Input(char * state_name, Input * in);

void read_Input(Input * input);

bool is_High(Input*, uint8_t);

bool on_Line(Input*);

bool off_Line(Input * in);

bool line_Left(Input * in);

bool line_Right(Input * in);

bool on_Center_Line(Input * in);

bool left_Turn(Input * in);

bool right_Turn(Input * in);

bool is_Goal(Input * in);

bool is_Junction(Input * in);
#endif