Updating - shredder/asterix-pp

2024-10-01 14:22:58 +02:00
parent 467fc1723a
commit f87f03f09b
572 changed files with 721117 additions and 0 deletions
@@ -0,0 +1,96 @@
+#include "IRSensor.h"
+#include "config.h"
+#include <Streaming.h>
+
+IRSensor::IRSensor()
+{
+  this->highTS = 0;
+  this->lowTS = 0;
+  this->dt = 0;
+  this->now = 0;
+  this->ir_moving = 0;
+}
+
+void IRSensor::debug(Stream &stream)
+{
+#ifdef IR_SPEED
+  stream
+      << "IR-MOVING : " << ir_moving << "IR-SPEED: " << (int)this->velocity;
+#else
+  stream << "IR-MOVING : " << (int)this->ir_moving;
+#endif
+}
+
+void IRSensor::count()
+{
+#ifdef IR_SPEED
+  if (digitalRead(IR_PIN) && (micros() - this->debounce > IR_INTERVAL) && digitalRead(IR_PIN))
+  {
+    // Check again that the encoder sends a good signal and then check that the time is greater than 1000 microseconds and check again that the signal is correct.
+    this->debounce = micros(); // Store the time to verify that we do not count the rebound in the signal.
+    pulses++;
+  }
+#endif
+}
+
+short IRSensor::setup()
+{
+#ifdef IR_SPEED
+  pinMode(IR_PIN, INPUT);
+  attachInterrupt(0, ir_count, RISING); // Configuration of interrupt 0, where it is connected.
+  this->pulses = 0;
+  this->rpm = 0;
+  this->timeold = 0;
+#endif
+}
+
+short IRSensor::loop()
+{
+#ifdef IR_SPEED
+  if (millis() - this->timeold >= IR_INTERVAL)
+  {
+    noInterrupts();                                                             // Don't process interrupts during calculations // We disconnect the interrupt so it doesn't act in this part of the program.
+    this->rpm = (minute / this->pulsesperturn) / (millis() - timeold) * pulses; // Calculate the revolutions per minute
+    this->velocity = this->rpm * 3.1416 * this->wheel_diameter * 60 / 1000000;  // Speed calculation in [Km / h]
+    timeold = millis();                                                         // We store the current time.
+    this->pulses = 0;                                                           // Initialize the pulses.
+    this->interrupts();                                                         // Restart the interrupt processing // Reiniciamos la interrupción
+  }
+#endif
+
+  this->ir_value = digitalRead(IR_PIN);
+  this->now = millis();
+  if (this->ir_value == HIGH)
+  {
+    this->highTS = this->now;
+  }
+  else
+  {
+    this->lowTS = this->now;
+  }
+
+  if (this->highTS <= this->lowTS)
+  {
+    this->dt = this->lowTS - this->highTS;
+  }
+  else
+  {
+    this->dt = this->highTS - this->lowTS;
+  }
+
+  this->dt = abs(this->dt);
+
+  if (this->dt > IR_TIMEOUT)
+  {
+    this->ir_moving = 0;
+  }
+  else
+  {
+    this->ir_moving = 1;
+  }
+}
+
+short IRSensor::ok()
+{
+  return this->ir_moving == 1;
+}