1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.com> 3 * Copyright (c) 2014 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 25 #include <iostream> 26 #include <string> 27 #include <stdexcept> 28 29 #include "grovelinefinder.h" 30 31 using namespace upm; 32 using namespace std; 33 34 GroveLineFinder::GroveLineFinder(int pin) 35 { 36 if ( !(m_gpio = mraa_gpio_init(pin)) ) 37 { 38 throw std::invalid_argument(std::string(__FUNCTION__) + 39 ": mraa_gpio_init() failed, invalid pin?"); 40 return; 41 } 42 43 mraa_gpio_dir(m_gpio, MRAA_GPIO_IN); 44 } 45 46 GroveLineFinder::~GroveLineFinder() 47 { 48 mraa_gpio_close(m_gpio); 49 } 50 51 bool GroveLineFinder::whiteDetected() 52 { 53 return (!mraa_gpio_read(m_gpio) ? true : false); 54 } 55 56 bool GroveLineFinder::blackDetected() 57 { 58 return (mraa_gpio_read(m_gpio) ? true : false); 59 } 60
