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+line_sensors #18

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0 StellaDark/NXT_sensors.ino → StellaDark/StellaDark/NXT_sensors.ino
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0 StellaDark/StellaDark.ino → StellaDark/StellaDark/StellaDark.ino
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0 StellaDark/line_sensors.ino → StellaDark/StellaDark/line_sensors.ino
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0 StellaDark/movements.ino → StellaDark/StellaDark/movements.ino
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0 StellaDark/test.ino → StellaDark/StellaDark/test.ino
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196 changes: 196 additions & 0 deletions StellaDark/line_sensors_procesing/line_sensors_procesing.ino
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Original file line number Diff line number Diff line change
@@ -0,0 +1,196 @@
/**
* version 0.1
* made by xlc team 2019
*/
#include <Wire.h>
#include <Adafruit_MCP23017.h>

Adafruit_MCP23017 mcp_1;
Adafruit_MCP23017 mcp_2;
Adafruit_MCP23017 mcp_3;
uint16_t values_1;
uint16_t values_d_1;
uint16_t values_2;
uint16_t values_d_2;
uint16_t values_3;
uint16_t values_d_3;
uint8_t index_sensor;
uint8_t detected;
float x_result;
float y_result;
const float x_for_angle[48] {
0,
0.1305,
0.2588,
0.3827,
0.5,
0.6088,
0.7071,
0.7934,
0.866,
0.9239,
0.9659,
0.9914,
1,
0.9914,
0.9659,
0.9239,
0.866,
0.7934,
0.7071,
0.6088,
0.5,
0.3827,
0.2588,
0.1305,
0,
-0.1305,
-0.2588,
-0.3827,
-0.5,
-0.6088,
-0.7071,
-0.7934,
-0.866,
-0.9239,
-0.9659,
-0.9914,
-1,
-0.9914,
-0.9659,
-0.9239,
-0.866,
-0.7934,
-0.7071,
-0.6088,
-0.5,
-0.3827,
-0.2588,
-0.1305
};
const float y_for_angle[48] {
1,
0.9914,
0.9659,
0.9239,
0.866,
0.7934,
0.7071,
0.6088,
0.5,
0.3827,
0.2588,
0.1305,
0,
-0.1305,
-0.2588,
-0.3827,
-0.5,
-0.6088,
-0.7071,
-0.7934,
-0.866,
-0.9239,
-0.9659,
-0.9914,
-1,
-0.9914,
-0.9659,
-0.9239,
-0.866,
-0.7934,
-0.7071,
-0.6088,
-0.5,
-0.3827,
-0.2588,
-0.1305,
0,
0.1305,
0.2588,
0.3827,
0.5,
0.6088,
0.7071,
0.7934,
0.866,
0.9239,
0.9659,
0.9914
};
int radToDeg(float rad) {
return rad*(180/3.14);
}
int vectorAngle(int x, int y) {
if (x == 0)
return (y > 0) ? 90 : (y == 0) ? 0 : 270;
else if (y == 0)
return (x >= 0) ? 0 : 180;
int ret = radToDeg(atanf((float)y / x));
if (x < 0 && y < 0)
ret = 180 + ret;
else if (x < 0)
ret = 180 + ret;
else if (y < 0)
ret = 270 + (90 + ret);
return ret;
}
void setup()
{
Serial.begin(115200);
Wire.begin();
mcp_1.begin(0x20);
mcp_2.begin(0x21);
mcp_3.begin(0x22);
for (uint8_t i = 0; i < 16; i++) {
mcp_1.pinMode(i, INPUT);
mcp_1.pullUp(i, 1);
mcp_2.pinMode(i, INPUT);
mcp_2.pullUp(i, 1);
mcp_3.pinMode(i, INPUT);
mcp_3.pullUp(i, 1);
}
}

void loop()
{
x_result = 0;
y_result = 0;
index_sensor = 0;
values_1 = mcp_1.readGPIOAB();
values_2 = mcp_2.readGPIOAB();
values_3 = mcp_3.readGPIOAB();
values_1 |= values_1 >> 1;
values_2 |= values_2 >> 1;
values_3 |= values_3 >> 1;
for (uint16_t mask = 0b1; mask != 0b0; mask <<= 1) {
if ((values_1 & mask) > 0) {
x_result += x_for_angle[index_sensor];
y_result += y_for_angle[index_sensor];
detected++;
}
index_sensor++;
}
for (uint16_t mask = 0b1; mask != 0b0; mask <<= 1) {
if ((values_2 & mask) > 0) {
x_result += x_for_angle[index_sensor];
y_result += y_for_angle[index_sensor];
detected++;
}
index_sensor++;
}
for (uint16_t mask = 0b1; mask != 0b0; mask <<= 1) {
if ((values_3 & mask) > 0) {
x_result += x_for_angle[index_sensor];
y_result += y_for_angle[index_sensor];
detected++;
}
index_sensor++;
}
if (detected > 2) { //filter
Serial.println(vectorAngle(x_result, y_result));//print angle 0-360
}
else{
Serial.println(~0); //no line
}
}