Diff: sensor/Sensor.cpp

Revision:

5:8ef79eebbc97

Parent:

4:cb50c6fa340b

diff -r cb50c6fa340b -r 8ef79eebbc97 sensor/Sensor.cpp
--- a/sensor/Sensor.cpp	Tue Oct 22 11:52:32 2019 +0000
+++ b/sensor/Sensor.cpp	Tue Oct 22 15:06:44 2019 +0000
@@ -3,6 +3,9 @@
 
 #include "Sensor.h"
 
+///////////////////////////////////////////////////////////////////
+// Constructor
+///////////////////////////////////////////////////////////////////
 Sensor::Sensor(PinName sda, PinName scl, PinName shdn)
 : i2c(sda, scl), SHDN(shdn) 
 {
@@ -13,6 +16,9 @@
     wait_ms(0.5);
 }
 
+///////////////////////////////////////////////////////////////////
+// Public methods
+///////////////////////////////////////////////////////////////////
 int Sensor::init()
 {
     // Turn on the device
@@ -68,12 +74,9 @@
     addr = address << 1;
 }
 
-///////////////////////////////////////////////////////////////////
-// New measurement
-///////////////////////////////////////////////////////////////////
 float Sensor::read()
 {
-    float range;
+    int range;
 
     // Start range measurement
     startRange();
@@ -83,14 +86,43 @@
 
     // Read range result
     range = readRange();
+    
+    if (range < 255) 
+    { 
+        isObstacle = true;
+    }
+    else
+    {
+        isObstacle = false;
+    }
 
     // Clear the interrupt on VL6180
     clearInterrupts();
+    
 
     // Display result
     return range;
 }
 
+void Sensor::turnOff()
+{
+    SHDN = 0;   
+}
+
+void Sensor::turnOn()
+{
+    SHDN = 1;   
+}
+
+bool Sensor::getIsObstacle()
+{
+    return isObstacle;
+}
+
+
+///////////////////////////////////////////////////////////////////
+// Private methods
+///////////////////////////////////////////////////////////////////
 void Sensor::startRange()
 {
     writeByte(0x018,0x01);
@@ -114,7 +146,7 @@
 
 float Sensor::readRange()
 {
-    char range;
+    float range;
     range = readByte(RESULT_RANGE_VAL);
     return (float)range;
 }
@@ -124,16 +156,6 @@
     writeByte(0x015,0x07);
 }
 
-void Sensor::turnOff()
-{
-    SHDN = 0;   
-}
-
-void Sensor::turnOn()
-{
-    SHDN = 1;   
-}
-
 ///////////////////////////////////////////////////////////////////
 // Update a VL6180X register
 ///////////////////////////////////////////////////////////////////