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-#ifndef sharp_h
-#define sharp_h
-/* sharp.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2008 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-
-/**
- * @file Module to control distance measuring sensors (sharp).
- * They can be used to detect obstacles, for example a bot.
- * It uses the Analog to Digital Converter (ADC) of the AVR to read and
- * understand data from the sharp sensors.
- * This module keep a value of the last read values from the sharp and update
- * it when calling the correct function.
- */
-
-/**
- * List of sharps supported (and their identifier).
- * Making a change to this list required an update to the EEPROM module key.
- */
-typedef enum sharp_list
-{
- /**
- * Front left sharp.
- */
- SHARP_FRONT_LEFT = 0,
- /**
- * Front middle sharp.
- */
- SHARP_FRONT_MIDDLE = 1,
- /**
- * Front right sharp.
- */
- SHARP_FRONT_RIGHT = 2,
- /**
- * Back left sharp.
- */
- SHARP_BACK_LEFT = 3,
- /**
- * Back right sharp.
- */
- SHARP_BACK_RIGHT = 4,
- /**
- * Middle back sharp. It used to know if there are some pucks in the back
- * of the bot.
- */
- SHARP_BACK_MIDDLE = 5,
- /**
- * Number of sharps.
- * It must be the last member.
- */
- SHARP_NUMBER
-} sharp_list;
-
-/** Sharps conversion table number of elements. */
-#define SHARP_NB_ELEMENT_TABLE_CONV 12
-
-/**
- * Low (0 index) and high (1 index) thresholds for interpreted sharp values.
- */
-extern uint16_t sharp_threshold[SHARP_NUMBER][2];
-
-/**
- * Initialize sharp module.
- */
-void sharp_init (void);
-
-/**
- * Update read data from sharps.
- * This function is blocking. To get the value you have to use the get
- * function (@a sharp_get_raw).
- */
-void sharp_update (void);
-
-/**
- * Get raw cached data from sharps.
- * It read the cached data (updated by the @a sharp_update function).
- * @param sharp_id the sharp id to get raw data from.
- * @return the raw data read from the sharps (0 is a non valid value).
- */
-uint16_t sharp_get_raw (uint8_t sharp_id);
-
-/**
- * Get the distance of the sharp computed on the value. It does a search in the
- * table.
- * @param sharp_value the value of the seen by the sharp.
- * @return the value in mm of the object seen.
- */
-uint16_t
-sharp_get_distance_mm (uint16_t sharp_value);
-
-/**
- * Configure the thresholds of a sharp.
- * @param sharp_id the sharp id to configure the thresholds.
- * @param low low threshold of the sharp.
- * @param high high threshold of the sharp.
- */
-void sharp_set_threshold (uint8_t sharp_id, uint16_t low, uint16_t high);
-
-/**
- * Get interpreted value from sharps.
- * It is used to know if there is something in front of the sharp.
- * @param sharp_id the sharp number to get interpreted value from.
- * @return
- * - 0 if there is nothing in front of the sharp.
- * - 1 if there is something in front of the sharp;
- * - other values when error occurs.
- */
-uint8_t sharp_get_interpreted (uint8_t sharp_id);
-
-/**
- * Is there an obstacle in front of the bot?
- * This function correctly handles the moving direction of the bot to check
- * only the necessary sharps.
- * @param moving_direction
- * - 1 when moving forward ;
- * - 2 when moving backward.
- * @return
- * - 0 if there is nothing in front ;
- * - 1 if there is an obstacle in front of the bot.
- */
-uint8_t
-sharp_path_obstrued (uint8_t moving_direction);
-
-#endif /* sharp_h */