Gruppe 3 / Mbed 2 deprecated PES3

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Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

IRSensor.cpp@0:306a2438de17, 2017-03-21 (annotated)

Committer:
itslinear
Date:
Tue Mar 21 12:42:01 2017 +0000
Revision:
0:306a2438de17
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itslinear 0:306a2438de17 1 #include <cmath>
itslinear 0:306a2438de17 2 #include "IRSensor.h"
itslinear 0:306a2438de17 3
itslinear 0:306a2438de17 4
itslinear 0:306a2438de17 5 /**
itslinear 0:306a2438de17 6 * Creates an IRSensor object.
itslinear 0:306a2438de17 7 * @param distance an analog input object to read the voltage of the sensor.
itslinear 0:306a2438de17 8 * @param bit0 a digital output to set the first bit of the multiplexer.
itslinear 0:306a2438de17 9 * @param bit1 a digital output to set the second bit of the multiplexer.
itslinear 0:306a2438de17 10 * @param bit2 a digital output to set the third bit of the multiplexer.
itslinear 0:306a2438de17 11 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
itslinear 0:306a2438de17 12 */
itslinear 0:306a2438de17 13 IRSensor::IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
itslinear 0:306a2438de17 14 {
itslinear 0:306a2438de17 15 init(distance, bit0, bit1, bit2, number);
itslinear 0:306a2438de17 16 }
itslinear 0:306a2438de17 17
itslinear 0:306a2438de17 18
itslinear 0:306a2438de17 19 IRSensor::IRSensor()
itslinear 0:306a2438de17 20 {
itslinear 0:306a2438de17 21 }
itslinear 0:306a2438de17 22
itslinear 0:306a2438de17 23 void IRSensor::init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
itslinear 0:306a2438de17 24 {
itslinear 0:306a2438de17 25
itslinear 0:306a2438de17 26 this->distance = distance; // set local references to objects
itslinear 0:306a2438de17 27 this->bit0 = bit0;
itslinear 0:306a2438de17 28 this->bit1 = bit1;
itslinear 0:306a2438de17 29 this->bit2 = bit2;
itslinear 0:306a2438de17 30
itslinear 0:306a2438de17 31 this->number = number;
itslinear 0:306a2438de17 32 }
itslinear 0:306a2438de17 33
itslinear 0:306a2438de17 34
itslinear 0:306a2438de17 35 /**
itslinear 0:306a2438de17 36 * Deletes the IRSensor object.
itslinear 0:306a2438de17 37 */
itslinear 0:306a2438de17 38 IRSensor::~IRSensor() {}
itslinear 0:306a2438de17 39
itslinear 0:306a2438de17 40 /**
itslinear 0:306a2438de17 41 * Gets the distance measured with the IR sensor in [m].
itslinear 0:306a2438de17 42 * @return the distance, given in [m].
itslinear 0:306a2438de17 43 */
itslinear 0:306a2438de17 44 float IRSensor::read()
itslinear 0:306a2438de17 45 {
itslinear 0:306a2438de17 46 *bit0 = (number >> 0) & 1;
itslinear 0:306a2438de17 47 *bit1 = (number >> 1) & 1;
itslinear 0:306a2438de17 48 *bit2 = (number >> 2) & 1;
itslinear 0:306a2438de17 49
itslinear 0:306a2438de17 50 float d = -0.38f*sqrt(distance->read())+0.38f; // calculate the distance in [m]
itslinear 0:306a2438de17 51 return d;
itslinear 0:306a2438de17 52 }
itslinear 0:306a2438de17 53
itslinear 0:306a2438de17 54 /**
itslinear 0:306a2438de17 55 * The empty operator is a shorthand notation of the <code>read()</code> method.
itslinear 0:306a2438de17 56 */
itslinear 0:306a2438de17 57 IRSensor::operator float()
itslinear 0:306a2438de17 58 {
itslinear 0:306a2438de17 59
itslinear 0:306a2438de17 60 return read();
itslinear 0:306a2438de17 61 }