Gets readings from the five down-facing line sensors on the front sensor array. More...

#include <Zumo32U4LineSensors.h>

Inheritance diagram for Zumo32U4LineSensors:

Public Member Functions
	Zumo32U4LineSensors ()
	Minimal constructor. More...

	Zumo32U4LineSensors (uint8_t *pins, uint8_t numSensors, uint8_t emitterPin=SENSOR_LEDON)
	Constructor that takes pin arguments. More...

void	initThreeSensors (uint8_t emitterPin=SENSOR_LEDON)
	Configures this object to use just three line sensors. More...

void	initFiveSensors (uint8_t emitterPin=SENSOR_LEDON)
	Configures this object to use all five line sensors. More...

void	init (uint8_t *pins, uint8_t numSensors, uint16_t timeout=2000, uint8_t emitterPin=SENSOR_LEDON)
	Configures this object to use a custom set of pins. More...

void	init (unsigned char *pins, unsigned char numSensors, unsigned int timeout=2000, unsigned char emitterPin=QTR_NO_EMITTER_PIN)

void	read (unsigned int *sensor_values, unsigned char readMode=QTR_EMITTERS_ON)

void	emittersOff ()

void	emittersOn ()

void	calibrate (unsigned char readMode=QTR_EMITTERS_ON)

void	resetCalibration ()

void	readCalibrated (unsigned int *sensor_values, unsigned char readMode=QTR_EMITTERS_ON)

int	readLine (unsigned int *sensor_values, unsigned char readMode=QTR_EMITTERS_ON, unsigned char white_line=0)

Public Attributes
unsigned int *	calibratedMinimumOn

unsigned int *	calibratedMaximumOn

unsigned int *	calibratedMinimumOff

unsigned int *	calibratedMaximumOff

Protected Member Functions
void	init (unsigned char *pins, unsigned char numSensors, unsigned char emitterPin)

Protected Attributes
unsigned char *	_pins

unsigned char	_numSensors

unsigned char	_emitterPin

unsigned int	_maxValue

int	_lastValue

Detailed Description

Gets readings from the five down-facing line sensors on the front sensor array.

The functions that this class inherits from QTRSensorsRC, such as read() and calibrate(), are documented in the user's guide for the QTRSensors library. QTRSensors is a separate Arduino library with a separate GitHub repository, but we include a copy of it in the Zumo32U4 library since it is needed for the Zumo32U4LineSensors class.

Definition at line 43 of file Zumo32U4LineSensors.h.

Constructor & Destructor Documentation

◆ Zumo32U4LineSensors() [1/2]

Zumo32U4LineSensors::Zumo32U4LineSensors ( )

inline

Minimal constructor.

If you use this (i.e. by not providing any arguments when you create the Zumo32U4ProximitySensors object), then you will have to call initThreeSensors(), initFiveSensors(), or init() before using the functions in this class.

Definition at line 53 of file Zumo32U4LineSensors.h.

◆ Zumo32U4LineSensors() [2/2]

Zumo32U4LineSensors::Zumo32U4LineSensors	(	uint8_t *	pins,
		uint8_t	numSensors,
		uint8_t	emitterPin = `SENSOR_LEDON`
	)

inline

Constructor that takes pin arguments.

This constructor calls init() with the specified arguments.

Definition at line 58 of file Zumo32U4LineSensors.h.

Member Function Documentation

◆ calibrate()

void QTRSensors::calibrate ( unsigned char readMode = QTR_EMITTERS_ON )

inherited

Definition at line 149 of file QTRSensors.cpp.

◆ emittersOff()

void QTRSensors::emittersOff ( )

inherited

Definition at line 110 of file QTRSensors.cpp.

◆ emittersOn()

void QTRSensors::emittersOn ( )

inherited

Definition at line 119 of file QTRSensors.cpp.

◆ init() [1/3]

void Zumo32U4LineSensors::init	(	uint8_t *	pins,
		uint8_t	numSensors,
		uint16_t	timeout = `2000`,
		uint8_t	emitterPin = `SENSOR_LEDON`
	)

inline

Configures this object to use a custom set of pins.

Parameters

pins	A pointer to an array with the pin numbers for the sensors.
numSensors	The number of sensors.
timeout	Specifies the length of time in microseconds beyond which you consider the sensor reading completely black.
emitterPin	The number of the pin that controls the emitters for the line sensors. You can specify a value of QTR_NO_EMITTER_PIN for this parameter if you want this object to not do anything to the emitters.

Definition at line 97 of file Zumo32U4LineSensors.h.

◆ init() [2/3]

void QTRSensors::init	(	unsigned char *	pins,
		unsigned char	numSensors,
		unsigned char	emitterPin
	)

protectedinherited

Definition at line 41 of file QTRSensors.cpp.

◆ init() [3/3]

void QTRSensorsRC::init	(	unsigned char *	pins,
		unsigned char	numSensors,
		unsigned int	timeout = `2000`,
		unsigned char	emitterPin = `QTR_NO_EMITTER_PIN`
	)

inherited

Definition at line 407 of file QTRSensors.cpp.

◆ initFiveSensors()

void Zumo32U4LineSensors::initFiveSensors ( uint8_t emitterPin = SENSOR_LEDON )

inline

Configures this object to use all five line sensors.

This function configures this object to use all five line sensors.

For this configuration to work, jumpers on the front sensor array must be installed in order to connect pin 20 to DN2 and connect pin 4 to DN4.

Definition at line 80 of file Zumo32U4LineSensors.h.

◆ initThreeSensors()

void Zumo32U4LineSensors::initThreeSensors ( uint8_t emitterPin = SENSOR_LEDON )

inline

Configures this object to use just three line sensors.

This function configures this object to just use line sensors 1, 3, and

Definition at line 68 of file Zumo32U4LineSensors.h.

◆ read()

void QTRSensors::read	(	unsigned int *	sensor_values,
		unsigned char	readMode = `QTR_EMITTERS_ON`
	)

inherited

Definition at line 81 of file QTRSensors.cpp.

◆ readCalibrated()

void QTRSensors::readCalibrated	(	unsigned int *	sensor_values,
		unsigned char	readMode = `QTR_EMITTERS_ON`
	)

inherited

Definition at line 235 of file QTRSensors.cpp.

◆ readLine()

int QTRSensors::readLine	(	unsigned int *	sensor_values,
		unsigned char	readMode = `QTR_EMITTERS_ON`,
		unsigned char	white_line = `0`
	)

inherited

Definition at line 315 of file QTRSensors.cpp.

◆ resetCalibration()

void QTRSensors::resetCalibration ( )

inherited

Definition at line 129 of file QTRSensors.cpp.

Member Data Documentation

◆ _emitterPin

unsigned char QTRSensors::_emitterPin

protectedinherited

Definition at line 142 of file QTRSensors.h.

◆ _lastValue

int QTRSensors::_lastValue

protectedinherited

Definition at line 144 of file QTRSensors.h.

◆ _maxValue

unsigned int QTRSensors::_maxValue

protectedinherited

Definition at line 143 of file QTRSensors.h.

◆ _numSensors

unsigned char QTRSensors::_numSensors

protectedinherited

Definition at line 141 of file QTRSensors.h.

◆ _pins

unsigned char* QTRSensors::_pins

protectedinherited

Definition at line 140 of file QTRSensors.h.

◆ calibratedMaximumOff

unsigned int* QTRSensors::calibratedMaximumOff

inherited

Definition at line 127 of file QTRSensors.h.

◆ calibratedMaximumOn

unsigned int* QTRSensors::calibratedMaximumOn

inherited

Definition at line 125 of file QTRSensors.h.

◆ calibratedMinimumOff

unsigned int* QTRSensors::calibratedMinimumOff

inherited

Definition at line 126 of file QTRSensors.h.

◆ calibratedMinimumOn

unsigned int* QTRSensors::calibratedMinimumOn

inherited

Definition at line 124 of file QTRSensors.h.

The documentation for this class was generated from the following file:

Zumo32U4LineSensors.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Zumo32U4LineSensors() [1/2]

◆ Zumo32U4LineSensors() [2/2]

Member Function Documentation

◆ calibrate()

◆ emittersOff()

◆ emittersOn()

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ initFiveSensors()

◆ initThreeSensors()

◆ read()

◆ readCalibrated()

◆ readLine()

◆ resetCalibration()

Member Data Documentation

◆ _emitterPin

◆ _lastValue

◆ _maxValue

◆ _numSensors

◆ _pins

◆ calibratedMaximumOff

◆ calibratedMaximumOn

◆ calibratedMinimumOff

◆ calibratedMinimumOn