Diff: IRSensor.cpp

Revision:

4:91a9737e4821

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Fri Apr 20 17:49:36 2018 +0000
@@ -0,0 +1,88 @@
+
+//Implementation IR Sensoren
+// V04.18
+// V. Ahlers
+
+#include <cmath>
+#include "IRSensor.h"
+
+using namespace std;
+
+    const float IRSensor :: PR1 = 3.4734*0.000000001;    //Koeffizienten
+    const float IRSensor :: PR2 = -7.1846*0.000001;
+    const float IRSensor :: PR3 = 0.0055;
+    const float IRSensor :: PR4 = -1.9304;
+    const float IRSensor :: PR5 = 301.2428;
+    const float IRSensor :: PL1 = 3.4734*0.000000001;
+    const float IRSensor :: PL2 = -7.1846*0.000001;
+    const float IRSensor :: PL3 = 0.0055;
+    const float IRSensor :: PL4 = -1.9304;
+    const float IRSensor :: PL5 = 301.2428;
+    const float IRSensor :: PF1 = 6.1767f*pow(10.0f,-10);
+    const float IRSensor :: PF2 = -1.9975f*pow(10.0f,-6);
+    const float IRSensor :: PF3 = 0.0024f;
+    const float IRSensor :: PF4 = -1.3299f;
+    const float IRSensor :: PF5 = 351.1557f;
+    const int IRSensor :: minIrR = 0;   //Noch definieren
+    const int IRSensor :: minIrL = 0;
+    const int IRSensor :: minIrF = 0;
+
+
+
+// IR Sensor Distanz in mm
+IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F) : 
+IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F){}
+                     
+IRSensor::~IRSensor(){}
+
+float IRSensor::readR() {
+    
+        measR = IrRight.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+        measR = measR * 1000; // Change the value to be in the 0 to 1000 range
+        disR = PR1*pow(measR,4)+PR2*pow(measR,3)+PR3*pow(measR,2)+PR4*measR+PR5; //disR = f(measR)
+        
+        return disR;    
+}
+
+float IRSensor::readL(){
+    
+        measL = IrLeft.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+        measL = measL * 1000; // Change the value to be in the 0 to 1000 range
+        disL = PL1*pow(measL,4)+PL2*pow(measL,3)+PL3*pow(measL,2)+PL4*measL+PL5; //disL = f(measL)
+        
+        return disL;    
+}
+
+float IRSensor::readF(){
+    
+        measF = IrFront.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+        measF = measF * 1000; // Change the value to be in the 0 to 1000 range
+        disF = PF1*pow(measF,4)+PF2*pow(measF,3)+PF3*pow(measF,2)+PF4*measF+PF5; //disF = f(measF)
+        
+        return disF;    
+}
+
+// IR Sensor Zusatand
+int IRSensor::codeR(){
+    
+        if(disR < minIrR) {
+            IrR = 1;
+            } else { IrR = 0; }
+        return IrR;
+}
+
+int IRSensor ::codeL(){
+    
+        if(disL < minIrL) {
+            IrL = 1;
+            } else { IrL = 0; }
+        return IrL;     
+}
+
+int IRSensor ::codeF(){
+    
+        if(disF < minIrR) {
+            IrF = 1;
+            } else { IrF = 0; }
+        return IrF;
+}
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