mit pathdingsbums
Dependencies: mbed
Fork of MicroMouse_MASTER_TWO by
Diff: IRSensor.cpp
- Revision:
- 1:d9e840c48b1e
- Parent:
- 0:a9fe4ef404bf
--- a/IRSensor.cpp Wed Mar 07 14:06:19 2018 +0000 +++ b/IRSensor.cpp Sat Mar 31 16:45:57 2018 +0000 @@ -3,23 +3,20 @@ using namespace std; -IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : - distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) -{ - this->number = number; -} + +IRSensor::IRSensor(AnalogIn& distance) : + distance(distance) +{} IRSensor::~IRSensor() {} float IRSensor::read() { - - bit0 = (number >> 0) & 1; - bit1 = (number >> 1) & 1; - bit2 = (number >> 2) & 1; - - float d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m] - - return d; - + double d = distance * 3.3f; // Change the value to be in the 0 to 3300 range + + //DONT TOUCH + //y = 14.098x6 - 147.35x5 + 627.68x4 - 1403.5x3 + 1765.1x2 - 1236.9x + 430.44 POLYNOMFUNKTION AUS EXCEL + 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; } \ No newline at end of file