Sharp GP2 familly distance sensor library
Dependents: FRC_2018 0hackton_08_06_18 0hackton_08_06_18_publish Kenya_2019 ... more
GP2A.cpp@6:36744d1b3127, 2019-10-13 (annotated)
- Committer:
- haarkon
- Date:
- Sun Oct 13 13:43:07 2019 +0000
- Revision:
- 6:36744d1b3127
- Parent:
- 5:49fb7016797c
added documentation changes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
haarkon | 0:17de10d278c2 | 1 | #include "GP2A.h" |
haarkon | 0:17de10d278c2 | 2 | |
haarkon | 5:49fb7016797c | 3 | GP2A::GP2A(PinName vmes, float dMin, float dMax, float slope, float origin) : _sensor(vmes) |
haarkon | 0:17de10d278c2 | 4 | { |
haarkon | 0:17de10d278c2 | 5 | m_dMin = dMin; |
haarkon | 0:17de10d278c2 | 6 | m_dMax = dMax; |
haarkon | 0:17de10d278c2 | 7 | m_slope = slope; |
haarkon | 5:49fb7016797c | 8 | m_origin = origin; |
haarkon | 0:17de10d278c2 | 9 | } |
haarkon | 0:17de10d278c2 | 10 | |
haarkon | 2:5e591a5b8edd | 11 | double GP2A::getDistance (void) |
haarkon | 0:17de10d278c2 | 12 | { |
haarkon | 4:4f443a6a6843 | 13 | double vDist = (double)_sensor.read()* 3.3; |
haarkon | 5:49fb7016797c | 14 | float distance = m_slope/(vDist-m_origin); |
haarkon | 0:17de10d278c2 | 15 | if (distance > m_dMax) return m_dMax; |
haarkon | 0:17de10d278c2 | 16 | if (distance < m_dMin) return m_dMin; |
haarkon | 0:17de10d278c2 | 17 | return distance; |
haarkon | 0:17de10d278c2 | 18 | } |
haarkon | 0:17de10d278c2 | 19 | |
haarkon | 2:5e591a5b8edd | 20 | double GP2A::getVoltage (void) |
haarkon | 0:17de10d278c2 | 21 | { |
haarkon | 4:4f443a6a6843 | 22 | return (double)_sensor.read()* 3.3; |
haarkon | 2:5e591a5b8edd | 23 | } |
haarkon | 2:5e591a5b8edd | 24 | |
haarkon | 2:5e591a5b8edd | 25 | GP2A::operator double() { |
haarkon | 2:5e591a5b8edd | 26 | return getDistance(); |
haarkon | 2:5e591a5b8edd | 27 | } |