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IRTest_oddSensors.ino

@@ -1,66 +1,88 @@
-int AnalogInputPin0 = A0;
-//int AnalogInputPin2 = A0;
-int AnalogInputPin1 = A1;
-//int AnalogInputPin4 = A3;
-int AnalogInputPin2 = A2;
-//int AnalogInputPin6 = A5;
-int AnalogInputPin3 = A3;
-//int AnalogInputPin8 = A7;
-int AnalogInputPin4 = A4;
-
-// raw IR values
-int ir1 = 0;
-int ir3 = 0;
-int ir5 = 0;
-int ir7 = 0;
-int ir9 = 0;
-int pitch = 4; //distance between IR sensors in mm
-
-int sensor_dist = 0;
-float error = 0;
-
-//calculates distance between a given sensor and the middle of the array board
-//only for IR arrays with an odd number of sensors
-int sensor_distance(int sensorNum) {
-  //sensorNum is the number of the sensor counting from left to right
-  //5 is the ir in the  middle of the array
-  sensor_dist = pitch*(5-sensorNum);
-  return sensor_dist ;
-}
-
-// calculates how far the line is from the center of the robot with a weighted average
-float calculateError(){
-  int num = (sensor_distance(9)*(ir9-ir1) + sensor_distance(7)*(ir7-ir3));
-  int den = ir1+ir3+ir5+ir7+ir9;
-
-  error = num/den;
-  return error;
-}
-
-void setup() {
-  // put your setup code here, to run once:
-  Serial.begin(9600);
-  pinMode(AnalogInputPin0, INPUT);
-  pinMode(AnalogInputPin1, INPUT);
-  pinMode(AnalogInputPin2, INPUT);
-  pinMode(AnalogInputPin3, INPUT);
-  pinMode(AnalogInputPin4, INPUT);
-
-}
-
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  ir1 = analogRead(AnalogInputPin0);
-  ir3 = analogRead(AnalogInputPin1);
-  ir5 = analogRead(AnalogInputPin2);
-  ir7 = analogRead(AnalogInputPin3);
-  ir9 = analogRead(AnalogInputPin4);
-
-  calculateError();
-
-  Serial.println(ir1);  
-
-  delay(100);
-
+int AnalogInputPin0 = A0;
+//int AnalogInputPin2 = A0;
+int AnalogInputPin1 = A1;
+//int AnalogInputPin4 = A3;
+int AnalogInputPin2 = A2;
+//int AnalogInputPin6 = A5;
+int AnalogInputPin3 = A3;
+//int AnalogInputPin8 = A7;
+int AnalogInputPin4 = A4;
+
+// raw IR values
+int ir1 = 0;
+int ir3 = 0;
+int ir5 = 0;
+int ir7 = 0;
+int ir9 = 0;
+int pitch = 4; //distance between IR sensors in mm
+
+int sensor_dist = 0;
+float error = 0;
+
+// calibration ranges
+int low1;
+int high1;
+
+//calculates distance between a given sensor and the middle of the array board
+//only for IR arrays with an odd number of sensors
+int sensor_distance(int sensorNum) {
+  //sensorNum is the number of the sensor counting from left to right
+  //5 is the ir in the  middle of the array
+  sensor_dist = pitch*(5-sensorNum);
+  return sensor_dist ;
+}
+
+// calculates how far the line is from the center of the robot with a weighted average
+float calculateError(){
+  int num = (sensor_distance(9)*(ir9-ir1) + sensor_distance(7)*(ir7-ir3));
+  int den = ir1+ir3+ir5+ir7+ir9;
+
+  error = num/den;
+  return error;
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  pinMode(AnalogInputPin0, INPUT);
+  pinMode(AnalogInputPin1, INPUT);
+  pinMode(AnalogInputPin2, INPUT);
+  pinMode(AnalogInputPin3, INPUT);
+  pinMode(AnalogInputPin4, INPUT);
+  calibration();
+}
+
+void calibration(){
+  int start = millis();
+  int current = millis();
+  low1 = analogRead(AnalogInputPin0);
+  high1 = low1;
+  int value1;
+  while((current-start)<5000){
+    value1 = analogRead(AnalogInputPin0);
+    if(value1 > high1){
+      high1 = value1;
+    }
+    else if(value1 < low1){
+      low1 = value1;
+    }
+    current = millis();
+  }
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  ir1 = analogRead(AnalogInputPin0);
+  ir3 = analogRead(AnalogInputPin1);
+  ir5 = analogRead(AnalogInputPin2);
+  ir7 = analogRead(AnalogInputPin3);
+  ir9 = analogRead(AnalogInputPin4);
+
+  ir1 = map(ir1,low1,high1,0,100);
+  ir1 = constrain(ir1,0,100);
+
+  Serial.println(ir1);
+
+  delay(100);
+
 }