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@5:49fb7016797c, 2019-10-13 (annotated)

Committer:
haarkon
Date:
Sun Oct 13 13:35:59 2019 +0000
Revision:
5:49fb7016797c
Parent:
4:4f443a6a6843
Child:
6:36744d1b3127
Added origin parameter to allow a good slope control of the v=f(1/d) slope.

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 * Permission is hereby granted, free of charge, to any person obtaining a copy
haarkon 0:17de10d278c2 7 * of this software and associated documentation files (the "Software"), to deal
haarkon 0:17de10d278c2 8 * in the Software without restriction, including without limitation the rights
haarkon 0:17de10d278c2 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
haarkon 0:17de10d278c2 10 * copies of the Software, and to permit persons to whom the Software is
haarkon 0:17de10d278c2 11 * furnished to do so, subject to the following conditions:
haarkon 0:17de10d278c2 12 *
haarkon 0:17de10d278c2 13 * The above copyright notice and this permission notice shall be included in
haarkon 0:17de10d278c2 14 * all copies or substantial portions of the Software.
haarkon 0:17de10d278c2 15 *
haarkon 0:17de10d278c2 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
haarkon 0:17de10d278c2 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
haarkon 0:17de10d278c2 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
haarkon 0:17de10d278c2 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
haarkon 0:17de10d278c2 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
haarkon 0:17de10d278c2 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
haarkon 0:17de10d278c2 22 * THE SOFTWARE.
haarkon 0:17de10d278c2 23 *
haarkon 0:17de10d278c2 24 * @section DESCRIPTION
haarkon 0:17de10d278c2 25 *
haarkon 0:17de10d278c2 26 * SHARP GP2 Analog sensor familly library
haarkon 0:17de10d278c2 27 *
haarkon 0:17de10d278c2 28 * Any GP2 analog sensor may be added to this library using the constructor :
haarkon 0:17de10d278c2 29 * minDistance : is the minimum distance for linear approximation (cm)
haarkon 0:17de10d278c2 30 * maxDistance : is the maximum distance for linear approximation (cm)
haarkon 0:17de10d278c2 31 * slope : is the slope of the linear part of the graph V = f(1/d)
haarkon 0:17de10d278c2 32 * take special care that we use the 1/d instead of d for x
haarkon 0:17de10d278c2 33 * axis.
haarkon 1:956ee3b2eaa0 34 * The slope parameter must be computed by user unless the GP2 reference is
haarkon 1:956ee3b2eaa0 35 * listed in the list below :
haarkon 4:4f443a6a6843 36 * - GP2Y0A02YK0F (Min = 30cm, Max = 150cm, Slope = 55)
haarkon 4:4f443a6a6843 37 * - GP2Y0A21YK0F (Min = 7cm, Max = 80cm, Slope = 10)
haarkon 1:956ee3b2eaa0 38 *
haarkon 1:956ee3b2eaa0 39 * You may add others sensors if you wish it
haarkon 0:17de10d278c2 40 *
haarkon 0:17de10d278c2 41 * One must be aware that under the minimum distance the sensor will output
haarkon 0:17de10d278c2 42 * a false value of distance leading to strong errors.
haarkon 1:956ee3b2eaa0 43 * @endsection
haarkon 0:17de10d278c2 44 */
haarkon 0:17de10d278c2 45
haarkon 0:17de10d278c2 46 #ifndef GP2A_H
haarkon 0:17de10d278c2 47 #define GP2A_H
haarkon 0:17de10d278c2 48
haarkon 0:17de10d278c2 49 /**
haarkon 0:17de10d278c2 50 * Slope definitions for common GP2A sensors
haarkon 0:17de10d278c2 51 */
haarkon 0:17de10d278c2 52
haarkon 5:49fb7016797c 53 #define GP2Y0A02YK0F_SLOPE 60.0
haarkon 5:49fb7016797c 54 #define GP2Y0A21YK0F_SLOPE 0.23625
haarkon 5:49fb7016797c 55 #define GP2Y0A02YK0F_ORIGIN 0.0
haarkon 5:49fb7016797c 56 #define GP2Y0A21YK0F_ORIGIN -0.297
haarkon 0:17de10d278c2 57
haarkon 0:17de10d278c2 58 /**
haarkon 3:dcd04d9d0eb7 59 * Includes : Mbed library
haarkon 0:17de10d278c2 60 */
haarkon 0:17de10d278c2 61 #include "mbed.h"
haarkon 0:17de10d278c2 62
haarkon 0:17de10d278c2 63 /**
haarkon 3:dcd04d9d0eb7 64 * GP2A Sensor : See sharp website for more informations
haarkon 3:dcd04d9d0eb7 65 * http://www.sharp-world.com/products/device/lineup/selection/opto/haca/diagram.html
haarkon 0:17de10d278c2 66 */
haarkon 0:17de10d278c2 67 class GP2A {
haarkon 0:17de10d278c2 68
haarkon 0:17de10d278c2 69 public :
haarkon 0:17de10d278c2 70
haarkon 0:17de10d278c2 71 /**
haarkon 3:dcd04d9d0eb7 72 * Constructor of a Sharp GP2 Familly object.
haarkon 0:17de10d278c2 73 *
haarkon 4:4f443a6a6843 74 * @param vmes (PinName) : the Mbed pin used to connect with GP2A sensor
haarkon 4:4f443a6a6843 75 * @param dMin (double) : the GP2A sensor min distance to mesure
haarkon 4:4f443a6a6843 76 * @param dMax (double) : the GP2A sensor max distance to mesure
haarkon 4:4f443a6a6843 77 * @param slope (double) : the slope of the linear part of the graph V = f(1/d)
haarkon 5:49fb7016797c 78 * @param origin (double) : the origin (Y for X=0) of the linear pat of the graph V = f(1/d)
haarkon 5:49fb7016797c 79 * @note you better use slope and origin value that I've put above as sybolic constants
haarkon 0:17de10d278c2 80 */
haarkon 5:49fb7016797c 81 GP2A(PinName vmes, float dMin, float dMax, float slope, float origin = 0);
haarkon 0:17de10d278c2 82
haarkon 0:17de10d278c2 83 /**
haarkon 3:dcd04d9d0eb7 84 * Return the distance to target mesured by sensor in cm
haarkon 0:17de10d278c2 85 *
haarkon 3:dcd04d9d0eb7 86 * @return Distance in cm
haarkon 4:4f443a6a6843 87 * @note Distance is (very) approximative, to have a better mesurment I recommand an averaging of at least 5 measures
haarkon 4:4f443a6a6843 88 * @note you may get a new mesurment every 50ms
haarkon 0:17de10d278c2 89 */
haarkon 2:5e591a5b8edd 90 double getDistance (void);
haarkon 0:17de10d278c2 91
haarkon 0:17de10d278c2 92 /**
haarkon 3:dcd04d9d0eb7 93 * Return the current voltage on GP2A output
haarkon 0:17de10d278c2 94 *
haarkon 3:dcd04d9d0eb7 95 * @return Voltage between 0 and 3.3V
haarkon 0:17de10d278c2 96 */
haarkon 2:5e591a5b8edd 97 double getVoltage (void);
haarkon 2:5e591a5b8edd 98
haarkon 2:5e591a5b8edd 99 /**
haarkon 2:5e591a5b8edd 100 * A short hand of getDistance
haarkon 2:5e591a5b8edd 101 */
haarkon 2:5e591a5b8edd 102 operator double();
haarkon 2:5e591a5b8edd 103
haarkon 2:5e591a5b8edd 104
haarkon 0:17de10d278c2 105
haarkon 0:17de10d278c2 106 private :
haarkon 5:49fb7016797c 107 float m_dMin, m_dMax, m_slope, m_origin;
haarkon 0:17de10d278c2 108
haarkon 0:17de10d278c2 109 protected :
haarkon 0:17de10d278c2 110
haarkon 0:17de10d278c2 111 AnalogIn _sensor ;
haarkon 0:17de10d278c2 112
haarkon 0:17de10d278c2 113 };
haarkon 0:17de10d278c2 114 #endif //GP2A_H