File content as of revision 16:2623db4996af:

/*Roboshark V10
IRSensor.cpp
Erstellt: V. Ahlers
geändert: V.Ahlers
V.5.18
Einlesen und Codieren der IR Sensoren
*/


#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 = 88;         // minimal Distanzen
    const int IRSensor :: minIrL = 88;
    const int IRSensor :: minIrF = 79;
    const float IRSensor :: Period = 0.02;       // Ticker Periode
  
    




IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor, DigitalIn& button) : 
IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F), LineSensor(LineSensor), button(button){
    ticker.attach(callback(this, &IRSensor::codeB), Period);
      this-> ende = ende;
      ende = 0;
    }


                     
IRSensor::~IRSensor(){
    ticker.detach();
    }


// 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)
        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)
        roundR = disR*100;
        disR = roundR/100.0-10.0;
        
        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)
        roundL = disL*100;
        disL = roundL/100.0-10.0;
        
        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)
        roundF = disF*100;
        disF = roundF/100.0-20.0;
        
        return disF;    
}

// IR Sensor Zusatand codieren
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 < minIrF) {
            IrF = 1;
            } else { IrF = 0; }
        return IrF;
}

//Line Sensor
void IRSensor :: codeB() {
    
        double line = LineSensor.read();
        if (line >0.3){            
        finish = 1;
         }else{ finish = 0;
}    
        if (finish != finishLast){
        ende = 1;
}
        if (line == 1) {
        ende = 1;
}
        if (button == 0){
        ende = 0;
        finish = 0;
        finishLast = 0;
}
        finishLast = finish;    
        
       /// printf("Ende = %d\n",ende);
       // printf("BL = %d\n",button);
    return;
}

int IRSensor::get_ende(){
    return ende;
    }