Reorganized repository, added circuit schematics

2026-10-08 23:00:06 +03:00 · 2019-02-15 15:27:00 -05:00
parent 655dc8c798
commit db7a4a47e8
21 changed files with 6500 additions and 0 deletions
@@ -0,0 +1,213 @@
+// 
+// 
+// 
+#include "AirSensor.h"
+
+
+// Sets the output pins to switch the charlieplexed array of LEDs.
+void AirSensor::changeLight(int light)
+{
+	switch (light)
+	{
+	case 0:
+		pinMode(IR_A, OUTPUT);
+		pinMode(IR_B, OUTPUT);
+		pinMode(IR_C, INPUT);
+
+		digitalWrite(IR_A, LOW);
+		digitalWrite(IR_B, HIGH);
+		digitalWrite(IR_C, LOW);
+		break;
+	case 1:
+		pinMode(IR_A, OUTPUT);
+		pinMode(IR_B, OUTPUT);
+		pinMode(IR_C, INPUT);
+
+		digitalWrite(IR_A, HIGH);
+		digitalWrite(IR_B, LOW);
+		digitalWrite(IR_C, LOW);
+		break;
+	case 2:
+		pinMode(IR_A, INPUT);
+		pinMode(IR_B, OUTPUT);
+		pinMode(IR_C, OUTPUT);
+
+		digitalWrite(IR_A, LOW);
+		digitalWrite(IR_B, LOW);
+		digitalWrite(IR_C, HIGH);
+		break;
+	case 3:
+		pinMode(IR_A, INPUT);
+		pinMode(IR_B, OUTPUT);
+		pinMode(IR_C, OUTPUT);
+
+		digitalWrite(IR_A, LOW);
+		digitalWrite(IR_B, HIGH);
+		digitalWrite(IR_C, LOW);
+		break;
+	case 4:
+		pinMode(IR_A, OUTPUT);
+		pinMode(IR_B, INPUT);
+		pinMode(IR_C, OUTPUT);
+
+		digitalWrite(IR_A, LOW);
+		digitalWrite(IR_B, LOW);
+		digitalWrite(IR_C, HIGH);
+		break;
+	case 5:
+		pinMode(IR_A, OUTPUT);
+		pinMode(IR_B, INPUT);
+		pinMode(IR_C, OUTPUT);
+
+		digitalWrite(IR_A, HIGH);
+		digitalWrite(IR_B, LOW);
+		digitalWrite(IR_C, LOW);
+		break;
+	default:
+		turnOffLight();
+		break;
+	}
+}
+
+// Sets all output pins to high-impedance to turn off all LEDs
+void AirSensor::turnOffLight()
+{
+	pinMode(IR_A, INPUT);
+	pinMode(IR_B, INPUT);
+	pinMode(IR_C, INPUT);
+}
+
+int AirSensor::getValue(int sensor, bool light)
+{
+	// Turn on light corresponding to read sensor
+	if (light)
+	{
+		changeLight(sensor);
+	}
+	else
+	{
+		turnOffLight();
+	}
+#ifdef IR_SENSOR_MULTIPLEXED
+	// Set multiplexer to corresponding sensor
+	digitalWrite(MUX_A, bitRead(sensor, 0));
+	digitalWrite(MUX_B, bitRead(sensor, 1));
+	digitalWrite(MUX_C, bitRead(sensor, 2));
+	// Return sensor value
+	return analogRead(SENSOR_IN);
+#else
+	return analogRead(ir_sensor_pins[sensor]);
+#endif
+}
+
+
+AirSensor::AirSensor(int requiredSamples, int skippedSamples) : thresholds{ 10000, 10000, 10000, 10000, 10000, 10000 }, calibrationSamples{ 0, 0, 0, 0, 0, 0 }, skippedSamples{ 0, 0, 0, 0, 0, 0 }, samplesToAcquire(requiredSamples), samplesToSkip(skippedSamples), calibrated{ 0, 0, 0, 0, 0, 0 }, allCalibrated(false)
+{
+	// Load config values
+	EEPROM.get(12, deadzone);
+	EEPROM.get(16, alpha);
+}
+
+// Check if all IR sensors are calibrated. If they are, set a flag to not need to re-check it
+bool AirSensor::isCalibrated()
+{
+	if (!allCalibrated)
+	{
+		for (int i = 0; i < 6; i++)
+		{
+			if (!calibrated[i])
+				return false;
+		}
+		allCalibrated = true;
+	}
+	return allCalibrated;
+}
+
+bool AirSensor::getSensorState(int sensor)
+{
+	// Flash the LED and read the IR sensor
+	int value = getValue(sensor, true);
+	turnOffLight();
+
+	// If the sensor is calibrated, Store its current filtered value.
+	// We are using an exponential moving average to filter out environmental noise. Setting alpha to 1 disables it.
+	if (allCalibrated || calibrated[sensor]) {
+		sensorValues[sensor] = (float)value * alpha + sensorValues[sensor] * (1 - alpha);
+		return sensorValues[sensor] < thresholds[sensor];
+	}
+	else
+	{
+		// If it is not calibrated, perform calibration:
+		// Skip the first few samples. This might not be required, but improved performance in my case.
+		// This might be due to wiring mistakes I made - I'm leaving the code in either way as it can't hurt.
+		if (skippedSamples[sensor] > samplesToSkip)
+		{
+			// Keep the minimum value seen by the sensor
+			if (value < thresholds[sensor]) thresholds[sensor] = value;
+			// If we have enough samples:
+			if (++calibrationSamples[sensor] > samplesToAcquire)
+			{
+				// Consider the sensor calibrated. Finalize calibration for this sensor.
+				sensorValues[sensor] = value;
+				calibrated[sensor] = true;
+				thresholds[sensor] -= deadzone;
+			};
+		}
+		else
+		{
+			skippedSamples[sensor]++;
+		}
+		return false;
+	}
+}
+
+// Using data from air sensors, compute the height of the player's hand, from 0 (not present) to 1 (highest possible position).
+float AirSensor::getHandPosition()
+{
+	float total = 0;
+	float sensorsTriggered = 0;
+	for (int i = 0; i < 6; i++)
+	{
+		if (getSensorState(i))
+		{
+			sensorsTriggered++;
+			total += i + 1;
+		}
+	}
+	return sensorsTriggered == 0 ? 0 : (total / (sensorsTriggered)) / 6;
+}
+
+void AirSensor::setDeadzone(int deadzone)
+{
+	this->deadzone = deadzone;
+	EEPROM.put(12, deadzone);
+}
+
+void AirSensor::setAlpha(float alpha)
+{
+	this->alpha = alpha;
+	EEPROM.put(16, alpha);
+}
+
+int AirSensor::getDeadzone()
+{
+	return deadzone;
+}
+
+float AirSensor::getAlpha()
+{
+	return alpha;
+}
+
+void AirSensor::recalibrate()
+{
+	for (int i = 0; i < 6; i++)
+	{
+		thresholds[i] = 0;
+		calibrationSamples[i] = 0;
+		skippedSamples[i] = 0;
+		sensorValues[i] = 0;
+		calibrated[i] = false;
+	}
+	allCalibrated = false;
+}