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

Committer:
ruesipat
Date:
2018-05-16
Revision:
9:ab19796bf14a
Parent:
1:d9e840c48b1e

File content as of revision 9:ab19796bf14a:

#include <cmath>
#include "IRSensor.h"

using namespace std;


IRSensor::IRSensor(AnalogIn& distance) :
    distance(distance)
{}

IRSensor::~IRSensor() {}

float IRSensor::read()
{
    double d = distance * 3.3f; // Change the value to be in the 0 to 3300 range
    float f = 14.098f*((d)*(d)*(d)*(d)*(d)*(d)) - 147.35f*((d)*(d)*(d)*(d)*(d)) + 627.68*((d)*(d)*(d)*(d)) - 1403.5f*((d)*(d)*(d)) + 1765.1f*((d)*(d)) - 1236.9f*(d) + 430.44f; // Lesen der Distanz in [mm]  
    
    return f;
}