Benutzer-Werkzeuge
projekte2014:beerbot:dokumentation:software
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen gezeigt.
| Beide Seiten der vorigen Revision Vorhergehende Überarbeitung Nächste Überarbeitung | Vorhergehende Überarbeitung | ||
|
projekte2014:beerbot:dokumentation:software [2014/07/31 21:44] jonasw |
projekte2014:beerbot:dokumentation:software [2016/01/21 12:45] (aktuell) |
||
|---|---|---|---|
| Zeile 1: | Zeile 1: | ||
| - | ====== Softwaredokumentation ====== | + | ====== Quellcode ====== |
| ===== Main Sketch ===== | ===== Main Sketch ===== | ||
| Zeile 812: | Zeile 812: | ||
| int sweepSpeed; | int sweepSpeed; | ||
| - | int servoSpeed; | ||
| - | float tolerance; | ||
| double* pixelTemps; | double* pixelTemps; | ||
| - | double pixelCompressedTo16[16]; | ||
| - | double midPixels; | ||
| - | double leftSide; | ||
| - | double rightSide; | ||
| - | double pixelSum; | ||
| - | double coldestPixel; | ||
| double temperatureBorder; | double temperatureBorder; | ||
| - | double pixelCompressedTo8[8]; | ||
| - | int dire; | ||
| int servoRange; | int servoRange; | ||
| - | float searchTolerance; | ||
| boolean foundColdPixel(); | boolean foundColdPixel(); | ||
| void getThermalData(); | void getThermalData(); | ||
| - | void summarizeVerticalPixels(); | + | |
| - | void summarizeMidPixels(); | + | |
| - | boolean checkMidPixelsForCold(); | + | |
| - | void summarizeSides(); | + | |
| - | void moveToColderSide(); | + | |
| - | void moveToCold(); | + | |
| - | void searchColdestPixel(); | + | |
| - | void compressPixelTo8(); | + | |
| public: | public: | ||
| void setup(int servoPin, int temperatureBorder); | void setup(int servoPin, int temperatureBorder); | ||
| boolean searchColdSpot(); | boolean searchColdSpot(); | ||
| - | void followColdSpot(); | ||
| int getPos(); | int getPos(); | ||
| }; | }; | ||
| Zeile 858: | Zeile 839: | ||
| | | ||
| this-> sweepSpeed = 2; | this-> sweepSpeed = 2; | ||
| - | this-> servoSpeed = 1; | ||
| - | this-> tolerance = 1.5; | ||
| - | this-> midPixels = 0.0; | ||
| - | this-> leftSide = 0.0; | ||
| - | this-> rightSide = 0.0; | ||
| - | this-> pixelSum = 0.0; | ||
| - | this-> coldestPixel = 0.0; | ||
| this-> temperatureBorder = temperatureBorder; | this-> temperatureBorder = temperatureBorder; | ||
| - | this-> dire = 0.0; | ||
| this-> servoRange = 90; | this-> servoRange = 90; | ||
| - | this-> searchTolerance = 1.5; | ||
| } | } | ||
| Zeile 876: | Zeile 848: | ||
| void ThermalCam::getThermalData() { | void ThermalCam::getThermalData() { | ||
| - | sensor.readTemperatures(); | + | sensor.readTemperatures(); |
| - | pixelTemps = sensor.getPixelTemperatures(); | + | pixelTemps = sensor.getPixelTemperatures(); |
| } | } | ||
| + | |||
| + | /* | ||
| + | Function sets thermalcam-servo to 90 degrees. | ||
| + | Servo does a complete sweep and every degree the thermaldata gets checked for a cold source. | ||
| + | If there is a cold source, "true" is returned back, else "false". | ||
| + | */ | ||
| boolean ThermalCam::searchColdSpot() { | boolean ThermalCam::searchColdSpot() { | ||
| - | myServo.setPos(90); | + | myServo.setPos(90); |
| - | delay(100); | + | delay(100); |
| - | for (int i = 0; i < servoRange; i++) { | + | for (int i = 0; i < servoRange; i++) { |
| - | myServo.sweep((int)sweepSpeed, servoRange, 15); | + | myServo.sweep((int)sweepSpeed, servoRange, 15); |
| - | getThermalData(); | + | getThermalData(); |
| - | for (int i = 28; i < 36; i++) { | + | if (foundColdPixel()) { |
| - | Serial.println(pixelTemps[i]); | + | return true; |
| - | } | + | |
| - | // summarizeVerticalPixels(); | + | |
| - | // summarizeMidPixels(); | + | |
| - | if (foundColdPixel()) { | + | |
| - | return true; | + | |
| - | } | + | |
| } | } | ||
| - | return false; | + | } |
| + | return false; | ||
| } | } | ||
| + | |||
| + | /* | ||
| + | Function, which gives back the current position (angle) of the thermalcam-servo. | ||
| + | */ | ||
| int ThermalCam::getPos() { | int ThermalCam::getPos() { | ||
| - | return myServo.getPos(); | + | return myServo.getPos(); |
| } | } | ||
| + | |||
| + | /* | ||
| + | Function, which checks the two rows in the middle of the thermalcam-pixelarray for a cold source. | ||
| + | */ | ||
| boolean ThermalCam::foundColdPixel() { | boolean ThermalCam::foundColdPixel() { | ||
| - | for( int i = 28; i < 35; i++ ) | + | for( int i = 28; i < 35; i++ ) { |
| - | { | + | if( pixelTemps[i] < temperatureBorder ) return true; |
| - | if( pixelTemps[i] < temperatureBorder ) | + | |
| - | { | + | |
| - | return true; | + | |
| } | } | ||
| - | } | + | return false; |
| - | return false; | + | |
| } | } | ||
projekte2014/beerbot/dokumentation/software.1406835848.txt.gz · Zuletzt geändert: 2016/01/21 12:45 (Externe Bearbeitung)
Seiten-Werkzeuge
