PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FOUR

Pathfinding nach rechts funktioniert noch nicht...der rest schon

Dependencies:   mbed

Fork of MicroMouse_MASTER_THREE by PES2_R2D2.0

IRSensor.cpp@0:a9fe4ef404bf, 2018-03-07 (annotated)

Committer:
ruesipat
Date:
Wed Mar 07 14:06:19 2018 +0000
Revision:
0:a9fe4ef404bf
Child:
1:d9e840c48b1e
hallo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruesipat 0:a9fe4ef404bf 1 #include <cmath>
ruesipat 0:a9fe4ef404bf 2 #include "IRSensor.h"
ruesipat 0:a9fe4ef404bf 3
ruesipat 0:a9fe4ef404bf 4 using namespace std;
ruesipat 0:a9fe4ef404bf 5
ruesipat 0:a9fe4ef404bf 6 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) :
ruesipat 0:a9fe4ef404bf 7 distance(distance), bit0(bit0), bit1(bit1), bit2(bit2)
ruesipat 0:a9fe4ef404bf 8 {
ruesipat 0:a9fe4ef404bf 9 this->number = number;
ruesipat 0:a9fe4ef404bf 10 }
ruesipat 0:a9fe4ef404bf 11
ruesipat 0:a9fe4ef404bf 12 IRSensor::~IRSensor() {}
ruesipat 0:a9fe4ef404bf 13
ruesipat 0:a9fe4ef404bf 14 float IRSensor::read()
ruesipat 0:a9fe4ef404bf 15 {
ruesipat 0:a9fe4ef404bf 16
ruesipat 0:a9fe4ef404bf 17 bit0 = (number >> 0) & 1;
ruesipat 0:a9fe4ef404bf 18 bit1 = (number >> 1) & 1;
ruesipat 0:a9fe4ef404bf 19 bit2 = (number >> 2) & 1;
ruesipat 0:a9fe4ef404bf 20
ruesipat 0:a9fe4ef404bf 21 float d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]
ruesipat 0:a9fe4ef404bf 22
ruesipat 0:a9fe4ef404bf 23 return d;
ruesipat 0:a9fe4ef404bf 24
ruesipat 0:a9fe4ef404bf 25 }