Merge pull request #92 from Lipotam/line_sensor_fix

Line sensor fix
Lipotam · Mar 30, 2018 · 93aab44 · 93aab44
2 parents d2f073c + 5db9474
commit 93aab44
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Showing 3 changed files with 46 additions and 0 deletions.
diff --git a/code/Arduino/config/Constants.cpp b/code/Arduino/config/Constants.cpp
@@ -79,6 +79,7 @@ const uint8_t Constants::kDistanceSensorBPin = 5;
 const uint8_t Constants::kDistanceSensorCPin = A3;
 
 /* Line controller */
+// A = 0, B = 1, C = 2
 const uint8_t Constants::kLineSensorReadPin = A0;
 const uint8_t Constants::kLineSensorAPin = 6;
 const uint8_t Constants::kLineSensorBPin = 7;

diff --git a/code/Arduino/peripheral/LineSensorManager.cpp b/code/Arduino/peripheral/LineSensorManager.cpp
@@ -10,6 +10,8 @@ LineSensorManager::LineSensorManager()
 }
 
 void LineSensorManager::choose_sensor(int number) {
+#if (LINE_SENSOR_REV == 1)
+
 	switch (number) {
 		case 1:
 			digitalWrite(Constants::kLineSensorAPin, LOW);
@@ -39,6 +41,45 @@ void LineSensorManager::choose_sensor(int number) {
 		default:
 			break;
 	}
+
+#elif (LINE_SENSOR_REV == 2)
+
+	switch (number) {
+	case 1:
+		digitalWrite(Constants::kLineSensorAPin, LOW);
+		digitalWrite(Constants::kLineSensorBPin, LOW);
+		digitalWrite(Constants::kLineSensorCPin, HIGH);
+		break;
+	case 2:
+		digitalWrite(Constants::kLineSensorAPin, HIGH);
+		digitalWrite(Constants::kLineSensorBPin, LOW);
+		digitalWrite(Constants::kLineSensorCPin, HIGH);
+		break;
+	case 3:
+		digitalWrite(Constants::kLineSensorAPin, LOW);
+		digitalWrite(Constants::kLineSensorBPin, HIGH);
+		digitalWrite(Constants::kLineSensorCPin, HIGH);
+		break;
+	case 4:
+		digitalWrite(Constants::kLineSensorAPin, HIGH);
+		digitalWrite(Constants::kLineSensorBPin, HIGH);
+		digitalWrite(Constants::kLineSensorCPin, HIGH);
+		break;
+	case 5:
+		digitalWrite(Constants::kLineSensorAPin, HIGH);
+		digitalWrite(Constants::kLineSensorBPin, HIGH);
+		digitalWrite(Constants::kLineSensorCPin, LOW);
+		break;
+	default:
+		break;
+	}
+
+	delay(1);
+#else
+
+#error Line sensor revisions 1 or 2 are supported only
+
+#endif
 }
 
 int LineSensorManager::get_sensor_value(int number) {

diff --git a/code/Arduino/peripheral/LineSensorManager.h b/code/Arduino/peripheral/LineSensorManager.h
@@ -2,6 +2,10 @@
 
 #include "IBasicSensorManager.h"
 
+// Line sensor board revision
+// can be 1 or 2
+#define LINE_SENSOR_REV 2
+
 /**
  * @brief Get information from line sensors. Line values are returned as @AreaType values
  */