Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 65 insertions, 0 deletions

diff --git a/libraries/Robot_Control/keyboard.cpp b/libraries/Robot_Control/keyboard.cpp
new file mode 100644
index 0000000..7e647bb
--- /dev/null
+++ b/libraries/Robot_Control/keyboard.cpp
@@ -0,0 +1,65 @@
+#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];
+}
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