Diff: IRSensor.cpp

Revision:

6:7bbcdd07bc2d

Parent:

5:e715d157ced5

Child:

7:862d80e0ea2d

--- a/IRSensor.cpp	Thu Apr 26 05:58:07 2018 +0000
+++ b/IRSensor.cpp	Thu May 03 19:36:16 2018 +0000
@@ -1,7 +1,11 @@
+/*Roboshark V4
+IRSensor.cpp
+Erstellt: V. Ahlers
+geändert: V.Ahlers
+V.5.18
+Einlesen und Codieren der IR Sensoren
+*/
 
-//Implementation IR Sensoren
-// V04.18
-// V. Ahlers
 
 #include <cmath>
 #include "IRSensor.h"
@@ -23,16 +27,16 @@
     const float IRSensor :: PF3 = 0.0024f;
     const float IRSensor :: PF4 = -1.3299f;
     const float IRSensor :: PF5 = 351.1557f;
-    const int IRSensor :: minIrR = 100;   //Noch definieren
+    const int IRSensor :: minIrR = 100;         // minimal Distanzen
     const int IRSensor :: minIrL = 100;
     const int IRSensor :: minIrF = 100;
-    const float IRSensor :: Period = 0.2;
+    const float IRSensor :: Period = 0.2;       // Ticker Periode
   
     
 
 
 
-// IR Sensor Distanz in mm
+
 IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor) : 
 IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F), LineSensor(LineSensor){
     ticker.attach(callback(this, &IRSensor::codeB), Period);
@@ -47,7 +51,7 @@
     }
 
 
-
+// IR Sensor Distanz in mm
 float IRSensor::readR() {
     
         measR = IrRight.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
@@ -75,7 +79,7 @@
         return disF;    
 }
 
-// IR Sensor Zusatand
+// IR Sensor Zusatand codieren
 int IRSensor::codeR(){
     
         if(disR < minIrR) {
@@ -100,10 +104,11 @@
         return IrF;//IrF;
 }
 
+//Line Sensor
 void IRSensor :: codeB() {
     
         double line = LineSensor.read();
-        if (line >0.3){            //Line Sensor
+        if (line >0.3){            
         finish = 1;
          }else{ finish = 0;
 }