FRC - Hackathon / GP2A

Sharp GP2 familly distance sensor library

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

Diff: GP2A.cpp

Revision:
5:49fb7016797c
Parent:
4:4f443a6a6843
--- a/GP2A.cpp	Thu May 31 17:25:25 2018 +0000
+++ b/GP2A.cpp	Sun Oct 13 13:35:59 2019 +0000
@@ -1,16 +1,17 @@
 #include "GP2A.h"
 
-GP2A::GP2A(PinName vmes, float dMin, float dMax, float slope) : _sensor(vmes)
+GP2A::GP2A(PinName vmes, float dMin, float dMax, float slope, float origin) : _sensor(vmes)
 {
     m_dMin = dMin;
     m_dMax = dMax;
     m_slope = slope;
+    m_origin = origin;
 }
 
 double GP2A::getDistance (void)
 {
     double vDist = (double)_sensor.read()* 3.3;
-    float distance = m_slope/vDist;
+    float distance = m_slope/(vDist-m_origin);
     if (distance > m_dMax) return m_dMax;
     if (distance < m_dMin) return m_dMin;
     return distance;