e_prox_timer2.c File Reference

Control proximity sensor of e-puck with timer2. More...

#include "e_ad_conv.h"
#include "./../motor_led/e_epuck_ports.h"
#include "e_prox.h"

Functions
void	init_tmr2 (void)
void	__attribute__ ((interrupt, auto_psv, shadow))
void	e_init_prox (void)
	Init the proxymity sensor A/D converter and the timer2.
void	e_stop_prox (void)
	Stop the acquisition (stop timer2).
int	e_get_prox (unsigned int sensor_number)
	To get the analogic proxy sensor value of a specific sensor.
int	e_get_ambient_light (unsigned int sensor_number)
	To get the analogic ambient light value of a specific sensor.
Variables
static int	ambient_ir [8]
static int	ambient_and_reflected_ir [8]
static int	reflected_ir [8]

---

Detailed Description

Control proximity sensor of e-puck with timer2.

The functions of this file are made to deal with the proximitiy data. You can know the value of the ambient light detected by the sensor. You can estimate the distance between the e-puck and an obstacle by using e_get_prox(unsigned int sensor_number) function.

Warning:

The module uses the timer2

See also:

e_prox.c, e_prox.h to use the timer1

Author:

Code: Lucas Meier & Francesco Mondada, Michael Bonani, Xavier Raemy
Doc: Jonathan Besuchet

---

Function Documentation

void __attribute__

(

(interrupt, auto_psv, shadow)

)

int e_get_ambient_light

(

unsigned int

sensor_number

)

To get the analogic ambient light value of a specific sensor.

To get the analogic ambient light value of a specific ir sensor.

This function retur the analogic value of the ambient light measurement.

Parameters:

sensor_number

The proxy sensor's number that you want the value. Must be between 0 to 7.

Returns:

The analogic value of the specified proxy sensor

int e_get_prox

(

unsigned int

sensor_number

)

To get the analogic proxy sensor value of a specific sensor.

To get the analogic proxy sensor value of a specific ir sensor.

To estimate the proxymity of an obstacle, we do the following things:

• measure the ambient light
• turn on the IR led of the sensor
• measure the reflected light + ambient light
• calculate: reflected light = (reflected light + ambient light) - ambient light
• turn off the IR led of the sensor

The result value of this function is: reflected light. More this value is great, more the obsacle is near.

Parameters:

sensor_number

The proxy sensor's number that you want the value. Must be between 0 to 7.

Returns:

The analogic value of the specified proxy sensor

void e_init_prox

(

void

)

Init the proxymity sensor A/D converter and the timer2.

Init the proxymity sensor A/D converter and the timer1.

Warning:

Must be called before starting using proximity sensor

void e_stop_prox

(

void

)

Stop the acquisition (stop timer2).

Stop the acquisition (stop timer1).

void init_tmr2

(

void

)

---

Variable Documentation

int ambient_and_reflected_ir[8] [static]

int ambient_ir[8] [static]

int reflected_ir[8] [static]

---