SensorArray class

SensorArray.cpp

@@ -0,0 +1,90 @@
+#include "SensorArray.h"
+
+#ifndef _SENSOR_ARRAY_h
+#define _SENSOR_ARRAY_h
+#endif
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+class SensorsArray {
+	struct sensor {
+		int pin;
+		int position;
+		//Sensor *sensor;
+		sensor *next;
+	};
+	sensor *head, *tail;
+public:
+	SensorsArray() {
+		head = tail = nullptr;
+	}
+
+	~SensorsArray() {
+		sensor *curr = head;
+		while (curr != nullptr) {
+			sensor *destory = curr;
+			curr = destory->next;
+			delete destory;
+		}
+	}
+
+	//inserts a new node at the tail vs the head
+	void insert(int pinValue, float posValue) {
+		sensor *instance = new sensor();
+		instance->pin = pinValue;
+		instance->position = posValue;
+		tail->next = instance;
+
+		tail = instance;
+	}
+
+	//starting at 0 as the first node. Iterates starting at the head
+	sensor* at(int indexValue) {
+		sensor *node = head;
+		while (indexValue > 0) {
+			node = node->next;
+			indexValue -= 1;
+		}
+
+		return node;
+	}
+};
+
+SensorArray::SensorArray()
+{
+	sensors = SensorsArray();
+}
+
+SensorArray::SensorArray(int pins[], int nPins)
+{
+	N_SENSORS = nPins;
+	for (int pin = 0; pin < N_SENSORS; pin++)
+	{
+		pinMode(pin, INPUT);
+		float pos = 2 / N_SENSORS * pin;
+		sensors.insert(pin, pos);
+	}
+}
+
+
+SensorArray::~SensorArray()
+{
+	sensors.~SensorsArray();
+}
+
+
+double SensorArray::error()
+{
+	float sum1 = 0, sum2 = 0;
+	for (int sensor = 0; sensor < N_SENSORS; sensor++)
+	{
+		//sum1 += sensors.at(sensor)->position * sensors.at(sensor)->sensor.value();
+		//sum2 += sensors.at(sensor)->sensor.value();
+	}
+
+	return sum1 / sum2;
+}

SensorArray.h

@@ -0,0 +1,16 @@
+#pragma once
+
+class SensorsArray;
+
+class SensorArray
+{
+	int N_SENSORS;
+	SensorsArray sensors;
+public:
+	SensorArray();
+	//creates sensors and assign positions from -1 to 1, or left to right
+	SensorArray(int pins[], int nPins);
+	~SensorArray();
+	double error();
+};
+

line-follower.vcxproj

@@ -47,7 +47,7 @@
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@@ -83,8 +83,14 @@
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+    <ClInclude Include="SenorArray.h" />
+    <ClInclude Include="SensorArray.h" />
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   </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="SenorArray.cpp" />
+    <ClCompile Include="SensorArray.cpp" />
+  </ItemGroup>
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