FRC - Hackathon / GP2A

Sharp GP2 familly distance sensor library

Dependents:   FRC_2018 0hackton_08_06_18 0hackton_08_06_18_publish Kenya_2019 ... more

GP2A.h@0:17de10d278c2, 2018-05-18 (annotated)

Committer:
haarkon
Date:
Fri May 18 16:47:44 2018 +0000
Revision:
0:17de10d278c2
Child:
1:956ee3b2eaa0
Untested first release of SHARP GP2 familly distance sensor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:17de10d278c2 1 /**
haarkon 0:17de10d278c2 2 * @author Hugues Angelis
haarkon 0:17de10d278c2 3 *
haarkon 0:17de10d278c2 4 * @section LICENSE
haarkon 0:17de10d278c2 5 *
haarkon 0:17de10d278c2 6 * Copyright (c) 2010 ARM Limited
haarkon 0:17de10d278c2 7 *
haarkon 0:17de10d278c2 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
haarkon 0:17de10d278c2 9 * of this software and associated documentation files (the "Software"), to deal
haarkon 0:17de10d278c2 10 * in the Software without restriction, including without limitation the rights
haarkon 0:17de10d278c2 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
haarkon 0:17de10d278c2 12 * copies of the Software, and to permit persons to whom the Software is
haarkon 0:17de10d278c2 13 * furnished to do so, subject to the following conditions:
haarkon 0:17de10d278c2 14 *
haarkon 0:17de10d278c2 15 * The above copyright notice and this permission notice shall be included in
haarkon 0:17de10d278c2 16 * all copies or substantial portions of the Software.
haarkon 0:17de10d278c2 17 *
haarkon 0:17de10d278c2 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
haarkon 0:17de10d278c2 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
haarkon 0:17de10d278c2 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
haarkon 0:17de10d278c2 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
haarkon 0:17de10d278c2 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
haarkon 0:17de10d278c2 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
haarkon 0:17de10d278c2 24 * THE SOFTWARE.
haarkon 0:17de10d278c2 25 *
haarkon 0:17de10d278c2 26 * @section DESCRIPTION
haarkon 0:17de10d278c2 27 *
haarkon 0:17de10d278c2 28 * SHARP GP2 Analog sensor familly library
haarkon 0:17de10d278c2 29 *
haarkon 0:17de10d278c2 30 * Any GP2 analog sensor may be added to this library using the constructor :
haarkon 0:17de10d278c2 31 * minDistance : is the minimum distance for linear approximation (cm)
haarkon 0:17de10d278c2 32 * maxDistance : is the maximum distance for linear approximation (cm)
haarkon 0:17de10d278c2 33 * slope : is the slope of the linear part of the graph V = f(1/d)
haarkon 0:17de10d278c2 34 * take special care that we use the 1/d instead of d for x
haarkon 0:17de10d278c2 35 * axis.
haarkon 0:17de10d278c2 36 * the slope parameter must be computed by user. You may
haarkon 0:17de10d278c2 37 * also use the defined values (see below)
haarkon 0:17de10d278c2 38 *
haarkon 0:17de10d278c2 39 * One must be aware that under the minimum distance the sensor will output
haarkon 0:17de10d278c2 40 * a false value of distance leading to strong errors.
haarkon 0:17de10d278c2 41 *
haarkon 0:17de10d278c2 42 */
haarkon 0:17de10d278c2 43
haarkon 0:17de10d278c2 44 #ifndef GP2A_H
haarkon 0:17de10d278c2 45 #define GP2A_H
haarkon 0:17de10d278c2 46
haarkon 0:17de10d278c2 47 /**
haarkon 0:17de10d278c2 48 * Slope definitions for common GP2A sensors
haarkon 0:17de10d278c2 49 */
haarkon 0:17de10d278c2 50
haarkon 0:17de10d278c2 51 #define GP2Y0A02YK0F 60.0
haarkon 0:17de10d278c2 52 #define GP2Y0A21YK0F 20.888
haarkon 0:17de10d278c2 53
haarkon 0:17de10d278c2 54 /**
haarkon 0:17de10d278c2 55 * Includes
haarkon 0:17de10d278c2 56 */
haarkon 0:17de10d278c2 57 #include "mbed.h"
haarkon 0:17de10d278c2 58
haarkon 0:17de10d278c2 59 /**
haarkon 0:17de10d278c2 60 * GP2A_Sensor
haarkon 0:17de10d278c2 61 */
haarkon 0:17de10d278c2 62 class GP2A {
haarkon 0:17de10d278c2 63
haarkon 0:17de10d278c2 64 public :
haarkon 0:17de10d278c2 65
haarkon 0:17de10d278c2 66 /**
haarkon 0:17de10d278c2 67 * Constructor.
haarkon 0:17de10d278c2 68 *
haarkon 0:17de10d278c2 69 * @param vmes is the Mbed pin used to connect with GP2A sensor
haarkon 0:17de10d278c2 70 * @param dMin is the GP2A sensor min distance to mesure
haarkon 0:17de10d278c2 71 * @param dMax is the GP2A sensor max distance to mesure
haarkon 0:17de10d278c2 72 * @param slope is the slope of the linear part of the graph V = f(1/d)
haarkon 0:17de10d278c2 73 */
haarkon 0:17de10d278c2 74 GP2A(PinName vmes, float dMin, float dMax, float slope);
haarkon 0:17de10d278c2 75
haarkon 0:17de10d278c2 76 /**
haarkon 0:17de10d278c2 77 * Return the distance to target in cm
haarkon 0:17de10d278c2 78 *
haarkon 0:17de10d278c2 79 * @return : the distance in cm
haarkon 0:17de10d278c2 80 */
haarkon 0:17de10d278c2 81 float getDistance (void);
haarkon 0:17de10d278c2 82
haarkon 0:17de10d278c2 83 /**
haarkon 0:17de10d278c2 84 * Return the voltage on GP2A output
haarkon 0:17de10d278c2 85 *
haarkon 0:17de10d278c2 86 * @return : the voltage between 0 and 3.3V
haarkon 0:17de10d278c2 87 */
haarkon 0:17de10d278c2 88 float getVoltage (void);
haarkon 0:17de10d278c2 89
haarkon 0:17de10d278c2 90 private :
haarkon 0:17de10d278c2 91 float m_dMin, m_dMax, m_slope;
haarkon 0:17de10d278c2 92
haarkon 0:17de10d278c2 93 protected :
haarkon 0:17de10d278c2 94
haarkon 0:17de10d278c2 95 AnalogIn _sensor ;
haarkon 0:17de10d278c2 96
haarkon 0:17de10d278c2 97 };
haarkon 0:17de10d278c2 98 #endif //GP2A_H