Add files via upload

Author: hkhitesh25

arrayOfLDR.cpp

@@ -0,0 +1,95 @@
+/*arrayOfLDR.cpp*/
+
+#include "Arduino.h"
+#include "arrayOfLDR.h"
+
+arrayOfLDR::arrayOfLDR(int ld1,int ld2,int ld3,int ld4,int ld5,int ld6)
+{
+    pinMode(ld1,INPUT);
+    pinMode(ld2,INPUT);
+    pinMode(ld3,INPUT);
+    pinMode(ld4,INPUT);
+    pinMode(ld5,INPUT);
+    pinMode(ld6,INPUT);
+    
+    _ld1=ld1;
+    _ld2=ld2;
+    _ld3=ld3;
+    _ld4=ld4;
+    _ld5=ld5;
+    _ld6=ld6;
+    
+    	
+    
+}
+
+float arrayOfLDR::read_sensor_values()
+{
+
+
+    int ldr1=digitalRead(_ld1);
+    int ldr2=digitalRead(_ld2);
+    int ldr3=digitalRead(_ld3);
+    int ldr4=digitalRead(_ld4);
+    int ldr5=digitalRead(_ld5);
+    int ldr6=digitalRead(_ld6);
+    
+    int junction=ldr1+ldr2+ldr3+ldr4+ldr5+ldr6;
+    
+    float ret_error = 10;
+
+    if(junction > 3) return 20;
+    
+    else if(ldr1==0 && ldr2==0 && ldr3==1 && ldr4==1 && ldr5==0 && ldr6==0)
+        ret_error = 0;
+
+    else if(ldr1==0 && ldr2==0 && ldr3==1 && ldr4==0 && ldr5==0 && ldr6==0)
+        ret_error = 1;
+        
+    else if(ldr1==0 && ldr2==1 && ldr3==1 && ldr4==0 && ldr5==0 && ldr6==0)
+        ret_error = 2;
+        
+    else if(ldr1==0 && ldr2==1 && ldr3==0 && ldr4==0 && ldr5==0 && ldr6==0 )
+        ret_error = 3;
+        
+    else if(ldr1==1 && ldr2==1 && ldr3==0 && ldr4==0 && ldr5==0 && ldr6==0)
+        ret_error = 4;
+    
+    else if(ldr1==1 && ldr2==0 && ldr3==0 && ldr4==0 && ldr5==0 && ldr6==0)
+        ret_error = 5;
+    
+    else if(ldr1==0 && ldr2==0 && ldr3==0 && ldr4==1 && ldr5==0 && ldr6==0)
+        ret_error = -1;
+        
+    else if(ldr1==0 && ldr2==0 && ldr3==0 && ldr4==1 && ldr5==1 && ldr6==0)
+        ret_error = -2;
+    
+    else if(ldr1==0 && ldr2==0 && ldr3==0 && ldr4==0 && ldr5==1 && ldr6==0)
+        ret_error = -3;
+        
+    else if(ldr1==0 && ldr2==0 && ldr3==0 && ldr4==0 && ldr5==1 && ldr6==1)
+        ret_error = -4;
+        
+    else if(ldr1==0 && ldr2==0 && ldr3==0 && ldr4==0 && ldr5==0 && ldr6==1)
+        ret_error = -5;
+
+	else if(ldr1==0 && ldr2==0 && ldr3==0 && ldr4==0 && ldr5==0 && ldr6==0)   	 	
+	    ret_error = 0.5;
+	    
+    else ret_error = 10;
+	
+	return ret_error;
+	     
+}
+
+double arrayOfLDR::calculate_pid(int error,int previous_error,int previous_sum)
+{
+    int p=error;
+    int i=error+previous_sum;
+    int d=error-previous_error;
+    double kp=7.5,kd=2.5,ki=0;
+    double correction_value=(kp)*p+(ki)*i+(kd)*d;
+    return correction_value;
+    
+}
+

arrayOfLDR.h

@@ -0,0 +1,27 @@
+/* arrayOfLDR.h */
+#ifndef arrayOfLDR_h
+#define arrayOfLDR_h
+#include "Arduino.h"
+//#include "WProgram.h"
+class arrayOfLDR
+{
+	public:
+    arrayOfLDR(int ld1,int ld2,int ld3,int ld4,int ld5,int ld6);
+    float read_sensor_values();
+    double calculate_pid(int error,int previous_error,int previous_sum);
+    private:
+    int _ld1;
+    int _ld2;
+    int _ld3;
+    int _ld4;
+    int _ld5;
+    int _ld6;
+    /*
+    double kp;
+    double kd;
+    double ki;	
+    */
+    
+};
+
+#endif