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#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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