MatrixLineTracer Class Reference

A class for MATRIX Line Tracer 10CH sensor. More...

#include <MiniR4_MXLineTracer.h>

Public Member Functions
void	begin ()
	Initialize the LineTracer sensor.
bool	getAllSensors (uint8_t data[10])
	Get All sensor value into array.
uint8_t	getSensor (uint8_t n)
	Get single sensor value.
String	getVersion ()
	Get sensor firmware version.
uint8_t	getLineWidth ()
	Get Line Width.
float	getError ()
	Get Error (Weights based).
bool	isOnline ()
	Is Sensor still online?
uint8_t	getLastSensor ()
	Get last sensor online before robot go offline.
uint8_t	getJunctionType ()
	Get Junction Type.
void	setWeights (float w1, float w2, float w3, float w4, float w5, float w6, float w7, float w8, float w9, float w10)
	Set Weights for error calc.
void	setThreshold (uint8_t threshold)
	Set threshold for error calc.
void	startCalibration ()
	Start Calibration Mode.
void	endCalibration ()
	End Calibration Mode.

Public Attributes
uint8_t	_ch = 0
	I2C multiplexer channel.
TwoWire *	_pWire
	Pointer to Wire object.

Detailed Description

A class for MATRIX Line Tracer 10CH sensor.

Definition at line 27 of file MiniR4_MXLineTracer.h.

Member Function Documentation

begin()

void MatrixLineTracer::begin

(

)

Initialize the LineTracer sensor.

Definition at line 12 of file MiniR4_MXLineTracer.cpp.

endCalibration()

void MatrixLineTracer::endCalibration

(

)

End Calibration Mode.

Definition at line 142 of file MiniR4_MXLineTracer.cpp.

getAllSensors()

bool MatrixLineTracer::getAllSensors

(

uint8_t

data[10]

)

Get All sensor value into array.

Parameters

data	The array need to storage value.

Definition at line 42 of file MiniR4_MXLineTracer.cpp.

getError()

float MatrixLineTracer::getError

(

)

Get Error (Weights based).

Returns

Error value (Default: -4.5 ~ 4.5).

Definition at line 82 of file MiniR4_MXLineTracer.cpp.

getJunctionType()

uint8_t MatrixLineTracer::getJunctionType

(

)

Get Junction Type.

Returns

0 = None, 1 = Left, 2 = Right, 3 = T or Cross, 4 = Unknown/None

Definition at line 113 of file MiniR4_MXLineTracer.cpp.

getLastSensor()

uint8_t MatrixLineTracer::getLastSensor

(

)

Get last sensor online before robot go offline.

Returns

Sensor ID (1~10).

Definition at line 109 of file MiniR4_MXLineTracer.cpp.

getLineWidth()

uint8_t MatrixLineTracer::getLineWidth

(

)

Get Line Width.

Returns

How many sensor online (1~10).

Definition at line 74 of file MiniR4_MXLineTracer.cpp.

getSensor()

uint8_t MatrixLineTracer::getSensor

(

uint8_t

n

)

Get single sensor value.

Parameters

n	Sensor ID (1~10).

Returns

Light value.

Definition at line 57 of file MiniR4_MXLineTracer.cpp.

getVersion()

String MatrixLineTracer::getVersion

(

)

Get sensor firmware version.

Returns

Version String.

Definition at line 63 of file MiniR4_MXLineTracer.cpp.

isOnline()

bool MatrixLineTracer::isOnline

(

)

Is Sensor still online?

Returns

True or False.

Definition at line 104 of file MiniR4_MXLineTracer.cpp.

setThreshold()

void MatrixLineTracer::setThreshold

(

uint8_t

threshold

)

Set threshold for error calc.

Parameters

threshold

Threshold for line.

Definition at line 131 of file MiniR4_MXLineTracer.cpp.

setWeights()

void MatrixLineTracer::setWeights	(	float	w1,
		float	w2,
		float	w3,
		float	w4,
		float	w5,
		float	w6,
		float	w7,
		float	w8,
		float	w9,
		float	w10 )

Set Weights for error calc.

Parameters

w1	weights for S1
w2	weights for S2
w3	weights for S3
w4	weights for S4
w5	weights for S5
w6	weights for S6
w7	weights for S7
w8	weights for S8
w9	weights for S9
w10	weights for S10

Definition at line 117 of file MiniR4_MXLineTracer.cpp.

startCalibration()

void MatrixLineTracer::startCalibration

(

)

Start Calibration Mode.

Definition at line 135 of file MiniR4_MXLineTracer.cpp.

Member Data Documentation

_ch

uint8_t MatrixLineTracer::_ch = 0

I2C multiplexer channel.

Definition at line 37 of file MiniR4_MXLineTracer.h.

_pWire

TwoWire* MatrixLineTracer::_pWire

Pointer to Wire object.

Definition at line 38 of file MiniR4_MXLineTracer.h.

---

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

• D:/MTXBlock_DevHome/MatrixMiniR4_DOX/src/Modules/Sensors/MiniR4_MXLineTracer.h
• D:/MTXBlock_DevHome/MatrixMiniR4_DOX/src/Modules/Sensors/MiniR4_MXLineTracer.cpp