Prometheus / IRSensorLib

Dependents:   Prom_Roebi

IRSensor.cpp@1:6709a7dfda65, 2017-05-20 (annotated)

Committer:
ZHAW_Prometheus
Date:
Sat May 20 21:46:08 2017 +0000
Revision:
1:6709a7dfda65
Parent:
0:667a753ef94f 
Vers. 20.05.2017 23:45

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 0:667a753ef94f 1 #include "mbed.h"
ZHAW_Prometheus 0:667a753ef94f 2 #include <cmath>
ZHAW_Prometheus 0:667a753ef94f 3 #include "IRSensor.h"
ZHAW_Prometheus 0:667a753ef94f 4
ZHAW_Prometheus 0:667a753ef94f 5
ZHAW_Prometheus 0:667a753ef94f 6 IRSensor::IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
ZHAW_Prometheus 0:667a753ef94f 7 {
ZHAW_Prometheus 0:667a753ef94f 8 init(distance, bit0, bit1, bit2, number);
ZHAW_Prometheus 0:667a753ef94f 9 }
ZHAW_Prometheus 0:667a753ef94f 10
ZHAW_Prometheus 0:667a753ef94f 11
ZHAW_Prometheus 0:667a753ef94f 12 IRSensor::IRSensor()
ZHAW_Prometheus 0:667a753ef94f 13 {
ZHAW_Prometheus 0:667a753ef94f 14 }
ZHAW_Prometheus 0:667a753ef94f 15
ZHAW_Prometheus 0:667a753ef94f 16 void IRSensor::init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
ZHAW_Prometheus 0:667a753ef94f 17 {
ZHAW_Prometheus 0:667a753ef94f 18
ZHAW_Prometheus 0:667a753ef94f 19 this->distance = distance; // set local references to objects
ZHAW_Prometheus 0:667a753ef94f 20 this->bit0 = bit0;
ZHAW_Prometheus 0:667a753ef94f 21 this->bit1 = bit1;
ZHAW_Prometheus 0:667a753ef94f 22 this->bit2 = bit2;
ZHAW_Prometheus 0:667a753ef94f 23
ZHAW_Prometheus 0:667a753ef94f 24 this->number = number;
ZHAW_Prometheus 0:667a753ef94f 25 }
ZHAW_Prometheus 0:667a753ef94f 26
ZHAW_Prometheus 0:667a753ef94f 27
ZHAW_Prometheus 0:667a753ef94f 28 /**
ZHAW_Prometheus 0:667a753ef94f 29 * Deletes the IRSensor object.
ZHAW_Prometheus 0:667a753ef94f 30 */
ZHAW_Prometheus 0:667a753ef94f 31 IRSensor::~IRSensor() {}
ZHAW_Prometheus 0:667a753ef94f 32
ZHAW_Prometheus 0:667a753ef94f 33 /**
ZHAW_Prometheus 0:667a753ef94f 34 * Gets the distance measured with the IR sensor in [m].
ZHAW_Prometheus 0:667a753ef94f 35 * @return the distance, given in [m].
ZHAW_Prometheus 0:667a753ef94f 36 */
ZHAW_Prometheus 0:667a753ef94f 37 float IRSensor::read()
ZHAW_Prometheus 0:667a753ef94f 38 {
ZHAW_Prometheus 0:667a753ef94f 39 *bit0 = (number >> 0) & 1;
ZHAW_Prometheus 0:667a753ef94f 40 *bit1 = (number >> 1) & 1;
ZHAW_Prometheus 0:667a753ef94f 41 *bit2 = (number >> 2) & 1;
ZHAW_Prometheus 0:667a753ef94f 42
ZHAW_Prometheus 0:667a753ef94f 43 float d = -0.58f*sqrt(distance->read())+0.58f; // calculate the distance in [m]
ZHAW_Prometheus 0:667a753ef94f 44 return d;
ZHAW_Prometheus 0:667a753ef94f 45 }
ZHAW_Prometheus 0:667a753ef94f 46
ZHAW_Prometheus 0:667a753ef94f 47 /**
ZHAW_Prometheus 0:667a753ef94f 48 * The empty operator is a shorthand notation of the <code>read()</code> method.
ZHAW_Prometheus 0:667a753ef94f 49 */
ZHAW_Prometheus 0:667a753ef94f 50 IRSensor::operator float()
ZHAW_Prometheus 0:667a753ef94f 51 {
ZHAW_Prometheus 0:667a753ef94f 52 return read();
ZHAW_Prometheus 0:667a753ef94f 53 }
ZHAW_Prometheus 0:667a753ef94f 54
ZHAW_Prometheus 0:667a753ef94f 55
ZHAW_Prometheus 0:667a753ef94f 56
ZHAW_Prometheus 0:667a753ef94f 57