File content as of revision 0:bb408887ab78:

/*
 * IRSensor.cpp
 * Copyright (c) 2018, ZHAW
 * All rights reserved.
 */

#include <cmath>
#include "IRSensor.h"

using namespace std;

/**
 * Creates an IRSensor object.
 * @param distance an analog input object to read the voltage of the sensor.
 * @param bit0 a digital output to set the first bit of the multiplexer.
 * @param bit1 a digital output to set the second bit of the multiplexer.
 * @param bit2 a digital output to set the third bit of the multiplexer.
 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
 */
IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
    
    // set local references to objects
    
    this->number = number;
}

/**
 * Deletes the IRSensor object.
 */
IRSensor::~IRSensor() {}

/**
 * Gets the distance measured with the IR sensor in [m].
 * @return the distance, given in [m].
 */
float IRSensor::read() {
    
    bit0 = (number >> 0) & 1;
    bit1 = (number >> 1) & 1;
    bit2 = (number >> 2) & 1;
    
    float d = -0.58f*sqrt(distance)+0.58f;  // calculate the distance in [m]
    
    return d;
}

/**
 * The empty operator is a shorthand notation of the <code>read()</code> method.
 */
IRSensor::operator float() {
    
    return read();
}