most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
omegaPX209/omegaPX209.cpp
- Committer:
- danstrider
- Date:
- 2017-10-23
- Revision:
- 10:085ab7328054
- Parent:
- 9:d5fcdcb3c89d
- Child:
- 14:85b64a4d08e8
File content as of revision 10:085ab7328054:
/* Matthew Kelly October 24th, 2013 The purpose of this class is to define a a data structure with all of the necessary information and member functions... to fully describe a single ultrasonic transducer for use in a relative positioning system. */ #include "mbed.h" #include "omegaPX209.hpp" omegaPX209::omegaPX209(PinName pin): depthP(pin) { } void omegaPX209::initialize() { P = 0; // Pressure [psi] cal = 12; // Volts per psi multiplier = 3.3; // Maximum voltage in } float omegaPX209::getPsi() { P = depthP*multiplier*cal; return P; } // math sourced from http://www.kylesconverter.com/pressure/feet-of-water-to-pounds-per-square-inch float omegaPX209::getDepth() { P = getPsi(); // read the sensor float pascals = (P * 6894.76) - (14.7 * 6894.76); // convert psi to Pascals float depth_m = pascals / (density_of_water_g_cc * 1000 * 9.80665); // convert Pa to fluid depth in meters float depth_ft = 3.28084 * depth_m; // convert meters to feet return depth_ft; }