Diff: IRsensor.cpp

Revision:

7:790cd18896a8

Parent:

4:004bdb88ab3e

--- a/IRsensor.cpp	Thu Aug 29 02:32:49 2019 +0000
+++ b/IRsensor.cpp	Wed Sep 11 01:59:10 2019 +0000
@@ -15,46 +15,49 @@
 
 void IRsensor::compute_distance(){
     getInputvoltage();
-    changeVtoD();
+    originaldistance = changeVtoD(voltage);
 }
 
 void IRsensor::getInputvoltage(){
     voltage = a_in.read()*3.3f;
 }
 
-void IRsensor::changeVtoD()
+float IRsensor::changeVtoD(float voltage_)
 {
-    if (voltage > 2.285f) {
-        originaldistance = 0.0f;
-    } else if (voltage > 1.645f) {
-        originaldistance = -7.8125f * voltage + 27.8515f;
-    } else if (voltage > 1.305f) {
-        originaldistance = -14.7058f * voltage + 39.1911f;
-    } else if (voltage > 1.08f) {
-        originaldistance = -22.222f * voltage + 49.0f;
-    } else if (voltage > 0.928f) {
-        originaldistance = -32.89473f * voltage + 60.526f;
-    } else if (voltage > 0.835f) {
-        originaldistance = -53.7634f * voltage + 79.89247f;
-    } else if (voltage > 0.737f) {
-        originaldistance = -51.02040f * voltage + 77.60204f;
-    } else if (voltage > 0.673f) {
-        originaldistance = -78.12500f * voltage + 97.57812f;
-    } else if (voltage > 0.608f) {
-        originaldistance = -76.92307f * voltage + 96.76923f;
-    } else if (voltage > 0.562f) {
-        originaldistance = -108.6956f * voltage + 116.0869f;
-    } else if (voltage > 0.515f) {
-        originaldistance = -106.3829f * voltage + 114.7872f;
-    } else if (voltage > 0.474f) {
-        originaldistance = -121.9512f * voltage + 122.8048f;
-    } else if (voltage > 0.447f) {
-        originaldistance = -185.1851f * voltage + 152.7777f;
-    } else if (voltage > 0.432f) {
-        originaldistance = -333.333f * voltage + 219.0f;
+    float distance_;
+    
+    if (voltage_ > 2.28f) {
+        distance_ = 0.00f;
+    } else if (voltage_ > 1.64f) {
+        distance_ = -7.81f * voltage_ + 27.85f;
+    } else if (voltage_ > 1.30f) {
+        distance_ = -14.70f * voltage_ + 39.19f;
+    } else if (voltage_ > 1.08f) {
+        distance_ = -22.2f * voltage_ + 49.00f;
+    } else if (voltage_ > 0.92f) {
+        distance_ = -32.89f * voltage_ + 60.52f;
+    } else if (voltage_ > 0.83f) {
+        distance_ = -53.76f * voltage_ + 79.89f;
+    } else if (voltage_ > 0.73f) {
+        distance_ = -51.02f * voltage_ + 77.60f;
+    } else if (voltage_ > 0.67f) {
+        distance_ = -78.12f * voltage_ + 97.57f;
+    } else if (voltage_ > 0.60f) {
+        distance_ = -76.92f * voltage_ + 96.76f;
+    } else if (voltage_ > 0.56f) {
+        distance_ = -108.69f * voltage_ + 116.08f;
+    } else if (voltage_ > 0.51f) {
+        distance_ = -106.38f * voltage_ + 114.78f;
+    } else if (voltage_ > 0.47f) {
+        distance_ = -121.95f * voltage_ + 122.80f;
+    } else if (voltage_ > 0.44f) {
+        distance_ = -185.18f * voltage_ + 152.77f;
+    } else if (voltage_ > 0.43f) {
+        distance_ = -333.33f * voltage_ + 219.00f;
     } else {
-        originaldistance = 9999.9f;
+        distance_ = 99.99f;
     }
+    return distance_;
 }
 
 void IRsensor::startAveraging(uint8_t averaging_range)
@@ -72,11 +75,14 @@
 void IRsensor::computeaverage()
 {
     bufferpoint++;
-    data[bufferpoint % bufferSize] = originaldistance;
-    distance_sum = 0;
+    getInputvoltage();
+    data[bufferpoint % bufferSize] = voltage;
+    voltage_sum = 0;
     for(int i = 0;i<bufferSize;i++)
-        distance_sum += data[i];
-    distance_average = distance_sum / bufferSize;
+        voltage_sum += data[i];
+    voltage_average = voltage_sum / bufferSize;
+    distance_average = changeVtoD(voltage_average);
+    
 }
 float IRsensor::getDistance()
 {