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@robogao
robogao committed Oct 21, 2017
1 parent 3d98628 commit 03dd1ff
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202 changes: 118 additions & 84 deletions Protractor.cpp
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@@ -1,21 +1,4 @@
/*
Protractor.h - Library for using the Protractor Sensor
Copyright (c) 2017 William Moore. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
###########################################################################
A lot of sensors can tell the distance to an object, but determining the angle to an object is much harder.
Expand All @@ -27,7 +10,9 @@
proximity sensor.
For a complete tutorial on wiring up and using the Protractor go to:
http://www.will-moore.com/protractor/ProtractorAngleProximitySensor_UserGuide.pdf
http://www.robogao.com/Protractor
############################################################################
*/

#include "Arduino.h"
Expand All @@ -37,15 +22,12 @@ Protractor::Protractor()
{
}

// Initialize the Protractor with Serial communication
void Protractor::begin(Stream &serial)
void Protractor::begin(Stream &serial) // Initialize the Protractor with Serial communication
{
_serial = &serial;
_comm = SERIALCOMM;
}

// Initialize the Protractor with I2C communication
void Protractor::begin(TwoWire &wire, int16_t address)
void Protractor::begin(TwoWire &wire, int16_t address) // Initialize the Protractor with I2C communication
{
_address = address;
_wire = &wire;
Expand All @@ -55,27 +37,24 @@ void Protractor::begin(TwoWire &wire, int16_t address)

/////// BASIC FUNCTIONS ///////

// get all of the data from the protractor.
bool Protractor::read() {
bool Protractor::read() { // get all of the data from the protractor.
return read(MAXOBJECTS);
}

// gets obs number of objects and obs number of paths from protractor.
// Returns the most visible objects and most open pathways. Minimizes data transfer for time sensitive applications.
bool Protractor::read(int16_t obs) {
bool Protractor::read(int16_t obs) { // gets obs number of objects and obs number of paths from protractor. Returns the most visible objects and most open pathways. Minimizes data transfer for time sensitive applications.
if(obs > MAXOBJECTS) obs = MAXOBJECTS;
_numdata = obs;
uint8_t numBytes = 1 + obs*4;
_requestData(numBytes); // Request bytes from the obstacle sensor

int i = 0;
unsigned long startTime = micros();
unsigned long duration = 0;
unsigned long maxWait = 20000; // Wait no longer than this many micro-seconds for the next byte to arrive
while(i < numBytes && duration < maxWait){
for(int i = 0; i < numBytes; i++) _buffer[i] = 0;
while(i < numBytes && duration < _waitTime){
if(_available()) {
_buffer[i] = _read();
i++;
_buffer[i] = _read();
startTime = micros();
i++;
}
duration = micros() - startTime;
}
Expand All @@ -86,40 +65,29 @@ bool Protractor::read(int16_t obs) {
}
}

// returns the number of objects detected
int16_t Protractor::objectCount() {
int16_t Protractor::objectCount() { // returns the number of objects detected
return (int16_t)(_buffer[0] >> 4); // number of objects detected is the high nibble of _buffer[0]
}

// returns the number of paths detected
int16_t Protractor::pathCount() {
return (int16_t)(_buffer[0] &= 0b00001111); // number of paths detected is the low nibble of _buffer[0]
int16_t Protractor::pathCount() { // returns the number of paths detected
return (int16_t)(_buffer[0] & 0b00001111); // number of paths detected is the low nibble of _buffer[0]
}

// returns the angle to the most visible object
int16_t Protractor::objectAngle() {
int16_t Protractor::objectAngle() { // returns the angle to the most visible object
return objectAngle(0);
}

// returns the angle to the object ob in the object list, indexed from 1.
// Left most object is 1. If ob exceeds number of objects detected, return zero.
int16_t Protractor::objectAngle(int16_t ob) {
int16_t Protractor::objectAngle(int16_t ob) { // returns the angle to the object ob in the object list, indexed from 1. Left most object is 1. If ob exceeds number of objects detected, return zero.
if(ob >= objectCount() || ob < 0){
return -1;
}else{
int16_t angle = map(_buffer[1+4*ob],0,255,0,180); // ob0->_buffer[1], ob1->_buffer[5], etc.
return angle;
}
}

// returns the visibility of the most visible object
int16_t Protractor::objectVisibility() {
int16_t Protractor::objectVisibility() { // returns the visibility of the most visible object
return objectVisibility(0);
}

// returns the visibility of the object ob in the object list, indexed from 1.
// Left most object is 1. If ob exceeds number of objects detected, return zero.
int16_t Protractor::objectVisibility(int16_t ob = 0) {
int16_t Protractor::objectVisibility(int16_t ob) { // returns the visibility of the object ob in the object list, indexed from 1. Left most object is 1. If ob exceeds number of objects detected, return zero.
if(ob >= objectCount() || ob < 0){
return -1;
}else{
Expand All @@ -128,14 +96,10 @@ int16_t Protractor::objectVisibility(int16_t ob = 0) {
}
}

// returns the angle to the most open pathway
int16_t Protractor::pathAngle() {
int16_t Protractor::pathAngle() { // returns the angle to the most open pathway
return pathAngle(0);
}

// returns the angle to the path pa in the pathway list, indexed from 1.
// Left most path is 1. If pa exceeds number of pathways detected, return zero.
int16_t Protractor::pathAngle(int16_t pa) {
int16_t Protractor::pathAngle(int16_t pa) { // returns the angle to the path pa in the pathway list, indexed from 1. Left most path is 1. If pa exceeds number of pathways detected, return zero.
if(pa >= pathCount() || pa < 0){
return -1;
}else{
Expand All @@ -146,10 +110,7 @@ int16_t Protractor::pathAngle(int16_t pa) {
int16_t Protractor::pathVisibility() {
return pathVisibility(0);
}

// returns the angle to the path pa in the pathway list, indexed from 1.
// Left most path is 1. If pa exceeds number of pathways detected, return zero.
int16_t Protractor::pathVisibility(int16_t pa) {
int16_t Protractor::pathVisibility(int16_t pa) { // returns the angle to the path pa in the pathway list, indexed from 1. Left most path is 1. If pa exceeds number of pathways detected, return zero.
if(pa >= pathCount() || pa < 0){
return -1;
}else{
Expand All @@ -158,53 +119,124 @@ int16_t Protractor::pathVisibility(int16_t pa) {
}
}

/////// ADVANCED FUNCTIONS ///////

bool Protractor::connected() { // Determine if the Protractor is connected
char pt[2];
return productType(pt);
}

bool Protractor::productType(char prodtype[]) { // Read out the Product Type from the Protractor. Should return 'P','R'.
uint8_t sendData[2] = {0x00,'\n'};
_write(sendData,2); // Tell Protractor that the next time data is requested it should give back the product type
delayMicroseconds(2000); // Allow time for Protractor to process request
read(1);
prodtype[0] = _buffer[0];
prodtype[1] = _buffer[1];
if(prodtype[0] == 'P' && prodtype[1] == 'R'){
return 1;
}else{
return 0;
}
}

uint32_t Protractor::serialNumber() { // Read out the Serial Number from the Protractor.
uint8_t sendData[2] = {0xC0,'\n'};
_write(sendData,2);
delayMicroseconds(2000); // Allow time for Protractor to process request
read(1);
uint32_t serialNumber = _buffer[0] + ((uint32_t)_buffer[1] << 8) + ((uint32_t)_buffer[2] << 16) + ((uint32_t)_buffer[3] << 24);
return serialNumber;
}

int16_t Protractor::voltage() { // Read out the voltage Vin sensed by the Protractor in milliVolts
uint8_t sendData[2] = {0xB2,'\n'};
_write(sendData,2);
delayMicroseconds(2000); // Allow time for Protractor to process request
bool dataReceived = read(1);
int16_t voltage = _buffer[0] + ((int16_t)_buffer[1] << 8);
if(dataReceived){
return voltage;
}else{
return -1;
}
}

bool Protractor::reflections(byte data[]) { // Read out the reflections from the Protractor.
uint8_t sendData[2] = {0xE0,'\n'};
_write(sendData,2);
delayMicroseconds(2000); // Allow time for Protractor to process request
bool dataReceived = read(2);
for(int i = 0; i < 8; i++) {
data[i] = _buffer[i];
}
return dataReceived;
}

bool Protractor::commParams(byte data[]) { // Read out the reflections from the Protractor.
uint8_t sendData[2] = {0xE1,'\n'};
_write(sendData,2);
delayMicroseconds(2000); // Allow time for Protractor to process request
bool dataReceived = read(3);
for(int i = 0; i < 12; i++) {
data[i] = _buffer[i];
}
return dataReceived;
}

/////// SETTINGS ///////

// Change the scan time
// 0 = scan only when called. 1 to 15 = rescan every 15ms, >15 = rescan every time_ms milliseconds.
// Default time_ms is set to 15ms.
void Protractor::scanTime(int16_t milliSeconds) {
if(milliSeconds >= 1 && milliSeconds <= MINDUR-1) { // Values within 1 and 14 milliSeconds aren't allowed, the sensor requires a minimum 15 seconds to complete a scan.
uint8_t sendData[3] = {SCANTIME,MINDUR,'\n'};
_write(sendData,3); // Send a signal (char SCANTIME) to tell Protractor that it needs to change its time between scans to milliSeconds.
}else if(milliSeconds >= 0 && milliSeconds <= 32767) { // Values less than 0 or greater than 32767 aren't allowed.
bool Protractor::scanTime(int16_t milliSeconds) {//0 = scan only when called. 1 to 15 = rescan every 15ms, >15 = rescan every time_ms milliseconds. Default time_ms is set to 30ms.
if(milliSeconds >= 1 && milliSeconds <= MINDUR-1) milliSeconds = MINDUR; // Values within 1 and 14 milliSeconds aren't allowed, the sensor requires a minimum 15 seconds to complete a scan.
_waitTime = (milliSeconds == 0) ? _commWait : _commWait + _scanWait; // When continuous scan is disabled, future requests for data will need to wait longer for Protractor to scan.
if(milliSeconds >= 0 && milliSeconds <= 32767) { // Values less than 0 or greater than 32767 aren't allowed.
uint8_t sendData[4] = {SCANTIME,(byte)(milliSeconds & 0x00FF),(byte)(milliSeconds >> 8),'\n'};
_write(sendData,4); // Send a signal (char SCANTIME) to tell Protractor that it needs to change its time between scans to milliSeconds.
_write(sendData,4); // Send a signal (SCANTIME) to tell Protractor that it needs to change its time between scans to milliSeconds.
delayMicroseconds(500); // Allow time for Protractor to process request
return 1;
}else{
return 0;
}
}

// change the I2C address. Will be stored after shutdown.
// See manual for instructions on restoring defaults. Default address = 0x45 (69d).
void Protractor::setNewI2Caddress(int16_t newAddress) {
bool Protractor::setNewI2Caddress(int16_t newAddress) { // change the I2C address. Will be stored after shutdown. See manual for instructions on restoring defaults. Default = 0x45 (69d).
if(newAddress >= 2 && newAddress <= 127) {
uint8_t sendData[3] = {I2CADDR,(byte)newAddress,'\n'};
_write(sendData,3); // Send a signal (char I2CADDR) to tell Protractor that it needs to change its I2C address to the newAddress
_write(sendData,3); // Send a signal (I2CADDR) to tell Protractor that it needs to change its I2C address to the newAddress
delayMicroseconds(500); // Allow time for Protractor to process request
return 1;
}else{
return 0;
}
}

// change the Serial Bus baud rate. Will be stored after shutdown.
// See manual for instructions on restoring defaults.
// Default = 9600 baud. Max = 250000 baud.
void Protractor::setNewSerialBaudRate(int32_t newBaudRate) {
bool Protractor::setNewSerialBaudRate(int32_t newBaudRate) { // change the Serial Bus baud rate. Will be stored after shutdown. See manual for instructions on restoring defaults. Default = 9600 baud. 0 = 1200, 1 = 2400, 2 = 4800, 3 = 9600, 4 = 19200, 5 = 28800, 6 = 38400, 7 = 57600, 8 = 115200, 9 = 230400
if(newBaudRate >= 1200 && newBaudRate <= 250000) {
uint8_t sendData[5] = {BAUDRATE,(byte)(newBaudRate & 0x00FF),(byte)(newBaudRate >> 8),(byte)(newBaudRate >> 16),'\n'};
_write(sendData,5); // Send a signal (char BAUDRATE) to tell Protractor that it needs to change its baudrate to the newBaudRate
uint8_t sendData[6] = {BAUDRATE,(byte)(newBaudRate & 0x00FF),(byte)(newBaudRate >> 8),(byte)(newBaudRate >> 16),(byte)(newBaudRate >> 24),'\n'};
_write(sendData,6); // Send a signal (BAUDRATE) to tell Protractor that it needs to change its baudrate to the newBaudRate
delayMicroseconds(500); // Allow time for Protractor to process request
return 1;
}else{
return 0;
}
}

void Protractor::LEDshowObject() { // Set the feedback LEDs to follow the most visible Objects detected
uint8_t sendData[3] = {LEDUSAGE,SHOWOBJ,'\n'};
_write(sendData,3); // Send a signal (char LEDUSAGE) to tell Protractor that it needs to SHOWOBJ
_write(sendData,3); // Send a signal (LEDUSAGE) to tell Protractor that it needs to SHOWOBJ
delayMicroseconds(200); // Allow time for Protractor to process request
}

void Protractor::LEDshowPath() { // Set the feedback LEDs to follow the most open pathway detected
uint8_t sendData[3] = {LEDUSAGE,SHOWPATH,'\n'};
_write(sendData,3); // Send a signal (char LEDUSAGE) to tell Protractor that it needs to SHOWPATH
_write(sendData,3); // Send a signal (LEDUSAGE) to tell Protractor that it needs to SHOWPATH
delayMicroseconds(200); // Allow time for Protractor to process request
}

void Protractor::LEDoff() { // Turn off the feedback LEDs
uint8_t sendData[3] = {LEDUSAGE,LEDOFF,'\n'};
_write(sendData,3); // Send a signal (char LEDUSAGE) to tell Protractor that it needs to turn the feedback LEDOFF
_write(sendData,3); // Send a signal (LEDUSAGE) to tell Protractor that it needs to turn the feedback LEDOFF
delayMicroseconds(200); // Allow time for Protractor to process request
}

/////// PRIVATE FUNCTIONS ///////
Expand Down Expand Up @@ -241,6 +273,7 @@ void Protractor::_write(uint8_t arrayBuffer[], uint8_t arrayLength) {
}
else if(_comm == SERIALCOMM){
_serial->write(arrayBuffer,arrayLength);
_serial->flush();
}
}

Expand All @@ -251,5 +284,6 @@ void Protractor::_requestData(uint8_t numBytes) {
else if(_comm == SERIALCOMM) {
uint8_t sendData[3] = {REQUESTDATA,numBytes,'\n'};
_write(sendData,3); // Send a signal (char SENDDATA) to tell Protractor that it needs to send data, tell it the number of data points to send.
//_serial->flush();
}
}
}

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