Roboshark / Mbed 2 deprecated Roboshark_V3

inkl Line Sensor

Dependencies:   mbed

Fork of Roboshark_V2 by Roboshark

IRSensor.cpp@5:e715d157ced5, 2018-04-26 (annotated)

Committer:
ahlervin
Date:
Thu Apr 26 05:58:07 2018 +0000
Revision:
5:e715d157ced5
Parent:
4:767fd282dd9c 
bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jacqueline 0:6d0671ae4648 1
Jacqueline 0:6d0671ae4648 2 //Implementation IR Sensoren
Jacqueline 0:6d0671ae4648 3 // V04.18
Jacqueline 0:6d0671ae4648 4 // V. Ahlers
Jacqueline 0:6d0671ae4648 5
Jacqueline 0:6d0671ae4648 6 #include <cmath>
Jacqueline 0:6d0671ae4648 7 #include "IRSensor.h"
Jacqueline 0:6d0671ae4648 8
Jacqueline 0:6d0671ae4648 9 using namespace std;
Jacqueline 0:6d0671ae4648 10
Jacqueline 0:6d0671ae4648 11 const float IRSensor :: PR1 = 3.4734*0.000000001; //Koeffizienten
Jacqueline 0:6d0671ae4648 12 const float IRSensor :: PR2 = -7.1846*0.000001;
Jacqueline 0:6d0671ae4648 13 const float IRSensor :: PR3 = 0.0055;
Jacqueline 0:6d0671ae4648 14 const float IRSensor :: PR4 = -1.9304;
Jacqueline 0:6d0671ae4648 15 const float IRSensor :: PR5 = 301.2428;
Jacqueline 0:6d0671ae4648 16 const float IRSensor :: PL1 = 3.4734*0.000000001;
Jacqueline 0:6d0671ae4648 17 const float IRSensor :: PL2 = -7.1846*0.000001;
Jacqueline 0:6d0671ae4648 18 const float IRSensor :: PL3 = 0.0055;
Jacqueline 0:6d0671ae4648 19 const float IRSensor :: PL4 = -1.9304;
Jacqueline 0:6d0671ae4648 20 const float IRSensor :: PL5 = 301.2428;
Jacqueline 0:6d0671ae4648 21 const float IRSensor :: PF1 = 6.1767f*pow(10.0f,-10);
Jacqueline 0:6d0671ae4648 22 const float IRSensor :: PF2 = -1.9975f*pow(10.0f,-6);
Jacqueline 0:6d0671ae4648 23 const float IRSensor :: PF3 = 0.0024f;
Jacqueline 0:6d0671ae4648 24 const float IRSensor :: PF4 = -1.3299f;
Jacqueline 0:6d0671ae4648 25 const float IRSensor :: PF5 = 351.1557f;
Jacqueline 0:6d0671ae4648 26 const int IRSensor :: minIrR = 100; //Noch definieren
Jacqueline 0:6d0671ae4648 27 const int IRSensor :: minIrL = 100;
Jacqueline 0:6d0671ae4648 28 const int IRSensor :: minIrF = 100;
ahlervin 4:767fd282dd9c 29 const float IRSensor :: Period = 0.2;
ahlervin 4:767fd282dd9c 30
ahlervin 4:767fd282dd9c 31
Jacqueline 0:6d0671ae4648 32
Jacqueline 0:6d0671ae4648 33
Jacqueline 0:6d0671ae4648 34
Jacqueline 0:6d0671ae4648 35 // IR Sensor Distanz in mm
ahlervin 4:767fd282dd9c 36 IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor) :
ahlervin 4:767fd282dd9c 37 IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F), LineSensor(LineSensor){
ahlervin 4:767fd282dd9c 38 ticker.attach(callback(this, &IRSensor::codeB), Period);
ahlervin 4:767fd282dd9c 39 this-> ende = ende;
ahlervin 4:767fd282dd9c 40 ende = 0;
ahlervin 4:767fd282dd9c 41 }
ahlervin 4:767fd282dd9c 42
ahlervin 4:767fd282dd9c 43
Jacqueline 0:6d0671ae4648 44
ahlervin 4:767fd282dd9c 45 IRSensor::~IRSensor(){
ahlervin 4:767fd282dd9c 46 ticker.detach();
ahlervin 4:767fd282dd9c 47 }
ahlervin 4:767fd282dd9c 48
ahlervin 4:767fd282dd9c 49
Jacqueline 0:6d0671ae4648 50
Jacqueline 0:6d0671ae4648 51 float IRSensor::readR() {
Jacqueline 0:6d0671ae4648 52
Jacqueline 0:6d0671ae4648 53 measR = IrRight.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
Jacqueline 0:6d0671ae4648 54 measR = measR * 1000; // Change the value to be in the 0 to 1000 range
Jacqueline 0:6d0671ae4648 55 disR = PR1*pow(measR,4)+PR2*pow(measR,3)+PR3*pow(measR,2)+PR4*measR+PR5; //disR = f(measR)
Jacqueline 0:6d0671ae4648 56
Jacqueline 0:6d0671ae4648 57 return disR;
Jacqueline 0:6d0671ae4648 58 }
Jacqueline 0:6d0671ae4648 59
Jacqueline 0:6d0671ae4648 60 float IRSensor::readL(){
Jacqueline 0:6d0671ae4648 61
Jacqueline 0:6d0671ae4648 62 measL = IrLeft.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
Jacqueline 0:6d0671ae4648 63 measL = measL * 1000; // Change the value to be in the 0 to 1000 range
Jacqueline 0:6d0671ae4648 64 disL = PL1*pow(measL,4)+PL2*pow(measL,3)+PL3*pow(measL,2)+PL4*measL+PL5; //disL = f(measL)
Jacqueline 0:6d0671ae4648 65
Jacqueline 0:6d0671ae4648 66 return disL;
Jacqueline 0:6d0671ae4648 67 }
Jacqueline 0:6d0671ae4648 68
Jacqueline 0:6d0671ae4648 69 float IRSensor::readF(){
Jacqueline 0:6d0671ae4648 70
Jacqueline 0:6d0671ae4648 71 measF = IrFront.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
Jacqueline 0:6d0671ae4648 72 measF = measF * 1000; // Change the value to be in the 0 to 1000 range
Jacqueline 0:6d0671ae4648 73 disF = PF1*pow(measF,4)+PF2*pow(measF,3)+PF3*pow(measF,2)+PF4*measF+PF5; //disF = f(measF)
Jacqueline 0:6d0671ae4648 74
Jacqueline 0:6d0671ae4648 75 return disF;
Jacqueline 0:6d0671ae4648 76 }
Jacqueline 0:6d0671ae4648 77
Jacqueline 0:6d0671ae4648 78 // IR Sensor Zusatand
Jacqueline 0:6d0671ae4648 79 int IRSensor::codeR(){
Jacqueline 0:6d0671ae4648 80
Jacqueline 0:6d0671ae4648 81 if(disR < minIrR) {
Jacqueline 0:6d0671ae4648 82 IrR = 1;
Jacqueline 0:6d0671ae4648 83 } else { IrR = 0; }
Jacqueline 0:6d0671ae4648 84 return IrR;
Jacqueline 0:6d0671ae4648 85 }
Jacqueline 0:6d0671ae4648 86
Jacqueline 0:6d0671ae4648 87 int IRSensor ::codeL(){
Jacqueline 0:6d0671ae4648 88
Jacqueline 0:6d0671ae4648 89 if(disL < minIrL) {
Jacqueline 0:6d0671ae4648 90 IrL = 1;
Jacqueline 0:6d0671ae4648 91 } else { IrL = 0; }
Jacqueline 0:6d0671ae4648 92 return IrL;
Jacqueline 0:6d0671ae4648 93 }
Jacqueline 0:6d0671ae4648 94
Jacqueline 0:6d0671ae4648 95 int IRSensor ::codeF(){
Jacqueline 0:6d0671ae4648 96
ahlervin 5:e715d157ced5 97 if(disF < minIrF) {
Jacqueline 0:6d0671ae4648 98 IrF = 1;
Jacqueline 0:6d0671ae4648 99 } else { IrF = 0; }
ahlervin 5:e715d157ced5 100 return IrF;//IrF;
ahlervin 4:767fd282dd9c 101 }
ahlervin 4:767fd282dd9c 102
ahlervin 4:767fd282dd9c 103 void IRSensor :: codeB() {
ahlervin 4:767fd282dd9c 104
ahlervin 4:767fd282dd9c 105 double line = LineSensor.read();
ahlervin 4:767fd282dd9c 106 if (line >0.3){ //Line Sensor
ahlervin 4:767fd282dd9c 107 finish = 1;
ahlervin 4:767fd282dd9c 108 }else{ finish = 0;
ahlervin 4:767fd282dd9c 109 }
ahlervin 4:767fd282dd9c 110 if (finish != finishLast){
ahlervin 4:767fd282dd9c 111 ende = 1;
ahlervin 4:767fd282dd9c 112 }
ahlervin 4:767fd282dd9c 113 if (line == 1) {
ahlervin 4:767fd282dd9c 114 ende = 1;
ahlervin 4:767fd282dd9c 115 }
ahlervin 4:767fd282dd9c 116 finishLast = finish;
ahlervin 4:767fd282dd9c 117 //printf("Line Sensor ist %d\n",ende);
ahlervin 4:767fd282dd9c 118 return;
ahlervin 4:767fd282dd9c 119 }
ahlervin 4:767fd282dd9c 120
ahlervin 4:767fd282dd9c 121 int IRSensor::get_ende(){
ahlervin 4:767fd282dd9c 122 return ende;
ahlervin 4:767fd282dd9c 123 }