implement capacitive sensor on demoshield
Change-Id: Ibdaf6b0ad08158b164790072c6d369dc04af2909
diff --git a/demokit/demokit.pde b/demokit/demokit.pde
index 5a4d29a..f5e0fc5 100644
--- a/demokit/demokit.pde
+++ b/demokit/demokit.pde
@@ -5,6 +5,8 @@
#include <Usb.h>
#include <AndroidAccessory.h>
+#include <CapSense.h>
+
#define LED3_RED 2
#define LED3_GREEN 4
#define LED3_BLUE 3
@@ -21,7 +23,8 @@
#define SERVO2 12
#define SERVO3 13
-#define TOUCH 14
+#define TOUCH_RECV 14
+#define TOUCH_SEND 15
#define RELAY1 A0
#define RELAY2 A1
@@ -45,6 +48,8 @@
"0000000012345678");
Servo servos[3];
+CapSense touch_robot = CapSense(TOUCH_SEND, TOUCH_RECV); // 10M ohm resistor on demo shield
+
void setup();
void loop();
@@ -107,6 +112,7 @@
init_buttons();
init_joystick( 5 ); // initialize with thresholding enabled, dead zone of 5 units
+ touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF); // autocalibrate OFF
servos[0].attach(SERVO1);
servos[0].write(90);
@@ -119,7 +125,7 @@
b1 = digitalRead(BUTTON1);
b2 = digitalRead(BUTTON2);
b3 = digitalRead(BUTTON3);
- c = captouched();
+ c = 0;
acc.powerOn();
}
@@ -130,6 +136,7 @@
byte idle;
static byte count = 0;
byte msg[3];
+ long touchcount;
if (acc.isConnected()) {
int len = acc.read(msg, sizeof(msg), 1);
@@ -233,19 +240,21 @@
acc.write(msg, 3);
break;
-#if 0
/* captoutched needs to be asynchonous */
case 0xc:
- c0 = captouched();
+ touchcount = touch_robot.capSense(5);
+
+ c0 = touchcount > 750;
+
if (c0 != c) {
msg[0] = 0x1;
msg[1] = 3;
- msg[2] = c0 ? 0 : 1;
+ msg[2] = c0;
acc.write(msg, 3);
c = c0;
}
+
break;
-#endif
}
}
@@ -376,30 +385,3 @@
Wire.send( val );
Wire.endTransmission();
}
-
-/* Capacitive touch technique from Mario Becker, Fraunhofer IGD, 2007 http://www.igd.fhg.de/igd-a4 */
-
-char captouched()
-{
- char iii, jjj, retval;
-
- retval = 0;
-
- for( jjj = 0; jjj != 10; jjj++ ) {
- delay( 10 );
-
- pinMode( TOUCH, INPUT );
- digitalWrite( TOUCH, HIGH );
-
- for ( iii = 0; iii < 16; iii++ )
- if( digitalRead( TOUCH ) )
- break;
-
- digitalWrite( TOUCH, LOW );
- pinMode( TOUCH, OUTPUT );
-
- retval += iii;
- }
-
- return retval;
-}
