| /* | |
| Copyright (c) 2012 Arduino LLC. 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 | |
| */ | |
| 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]; | |
| } | |