Sharp GP2 familly distance sensor library

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

Committer:
haarkon
Date:
Sun Oct 13 13:43:07 2019 +0000
Revision:
6:36744d1b3127
Parent:
5:49fb7016797c
added documentation changes

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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 6:36744d1b3127 34 * origin : is the value of the origin (Y for X = 0) of the line of
haarkon 6:36744d1b3127 35 * V=f(1/d)
haarkon 1:956ee3b2eaa0 36 * The slope parameter must be computed by user unless the GP2 reference is
haarkon 1:956ee3b2eaa0 37 * listed in the list below :
haarkon 6:36744d1b3127 38 * - GP2Y0A02YK0F (Min = 30cm, Max = 150cm, Slope = 60, origin = 0)
haarkon 6:36744d1b3127 39 * - GP2Y0A21YK0F (Min = 7cm, Max = 80cm, Slope = 0.246, origin = -0.297)
haarkon 1:956ee3b2eaa0 40 *
haarkon 1:956ee3b2eaa0 41 * You may add others sensors if you wish it
haarkon 0:17de10d278c2 42 *
haarkon 0:17de10d278c2 43 * One must be aware that under the minimum distance the sensor will output
haarkon 0:17de10d278c2 44 * a false value of distance leading to strong errors.
haarkon 1:956ee3b2eaa0 45 * @endsection
haarkon 0:17de10d278c2 46 */
haarkon 0:17de10d278c2 47
haarkon 0:17de10d278c2 48 #ifndef GP2A_H
haarkon 0:17de10d278c2 49 #define GP2A_H
haarkon 0:17de10d278c2 50
haarkon 0:17de10d278c2 51 /**
haarkon 0:17de10d278c2 52 * Slope definitions for common GP2A sensors
haarkon 0:17de10d278c2 53 */
haarkon 0:17de10d278c2 54
haarkon 5:49fb7016797c 55 #define GP2Y0A02YK0F_SLOPE 60.0
haarkon 5:49fb7016797c 56 #define GP2Y0A21YK0F_SLOPE 0.23625
haarkon 5:49fb7016797c 57 #define GP2Y0A02YK0F_ORIGIN 0.0
haarkon 5:49fb7016797c 58 #define GP2Y0A21YK0F_ORIGIN -0.297
haarkon 0:17de10d278c2 59
haarkon 0:17de10d278c2 60 /**
haarkon 3:dcd04d9d0eb7 61 * Includes : Mbed library
haarkon 0:17de10d278c2 62 */
haarkon 0:17de10d278c2 63 #include "mbed.h"
haarkon 0:17de10d278c2 64
haarkon 0:17de10d278c2 65 /**
haarkon 3:dcd04d9d0eb7 66 * GP2A Sensor : See sharp website for more informations
haarkon 3:dcd04d9d0eb7 67 * http://www.sharp-world.com/products/device/lineup/selection/opto/haca/diagram.html
haarkon 6:36744d1b3127 68 * @param slope = 60 for a GP2Y0A02 and 0.236 for a GP2Y0A21
haarkon 6:36744d1b3127 69 * @param origin = 0 for a GP2Y0A02 and -0.297 for a GP2Y0A21
haarkon 0:17de10d278c2 70 */
haarkon 0:17de10d278c2 71 class GP2A {
haarkon 0:17de10d278c2 72
haarkon 0:17de10d278c2 73 public :
haarkon 0:17de10d278c2 74
haarkon 0:17de10d278c2 75 /**
haarkon 3:dcd04d9d0eb7 76 * Constructor of a Sharp GP2 Familly object.
haarkon 0:17de10d278c2 77 *
haarkon 4:4f443a6a6843 78 * @param vmes (PinName) : the Mbed pin used to connect with GP2A sensor
haarkon 4:4f443a6a6843 79 * @param dMin (double) : the GP2A sensor min distance to mesure
haarkon 4:4f443a6a6843 80 * @param dMax (double) : the GP2A sensor max distance to mesure
haarkon 4:4f443a6a6843 81 * @param slope (double) : the slope of the linear part of the graph V = f(1/d)
haarkon 5:49fb7016797c 82 * @param origin (double) : the origin (Y for X=0) of the linear pat of the graph V = f(1/d)
haarkon 5:49fb7016797c 83 * @note you better use slope and origin value that I've put above as sybolic constants
haarkon 0:17de10d278c2 84 */
haarkon 5:49fb7016797c 85 GP2A(PinName vmes, float dMin, float dMax, float slope, float origin = 0);
haarkon 0:17de10d278c2 86
haarkon 0:17de10d278c2 87 /**
haarkon 3:dcd04d9d0eb7 88 * Return the distance to target mesured by sensor in cm
haarkon 0:17de10d278c2 89 *
haarkon 3:dcd04d9d0eb7 90 * @return Distance in cm
haarkon 4:4f443a6a6843 91 * @note Distance is (very) approximative, to have a better mesurment I recommand an averaging of at least 5 measures
haarkon 4:4f443a6a6843 92 * @note you may get a new mesurment every 50ms
haarkon 0:17de10d278c2 93 */
haarkon 2:5e591a5b8edd 94 double getDistance (void);
haarkon 0:17de10d278c2 95
haarkon 0:17de10d278c2 96 /**
haarkon 3:dcd04d9d0eb7 97 * Return the current voltage on GP2A output
haarkon 0:17de10d278c2 98 *
haarkon 3:dcd04d9d0eb7 99 * @return Voltage between 0 and 3.3V
haarkon 0:17de10d278c2 100 */
haarkon 2:5e591a5b8edd 101 double getVoltage (void);
haarkon 2:5e591a5b8edd 102
haarkon 2:5e591a5b8edd 103 /**
haarkon 2:5e591a5b8edd 104 * A short hand of getDistance
haarkon 2:5e591a5b8edd 105 */
haarkon 2:5e591a5b8edd 106 operator double();
haarkon 2:5e591a5b8edd 107
haarkon 2:5e591a5b8edd 108
haarkon 0:17de10d278c2 109
haarkon 0:17de10d278c2 110 private :
haarkon 5:49fb7016797c 111 float m_dMin, m_dMax, m_slope, m_origin;
haarkon 0:17de10d278c2 112
haarkon 0:17de10d278c2 113 protected :
haarkon 0:17de10d278c2 114
haarkon 0:17de10d278c2 115 AnalogIn _sensor ;
haarkon 0:17de10d278c2 116
haarkon 0:17de10d278c2 117 };
haarkon 0:17de10d278c2 118 #endif //GP2A_H