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IRSensor.cpp@0:da791f233257, 2018-05-11 (annotated)

Committer:
Kiwicjam
Date:
Fri May 11 12:21:19 2018 +0000
Revision:
0:da791f233257
start of rome2 p5;

Who changed what in which revision?

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Kiwicjam 0:da791f233257 1 /*
Kiwicjam 0:da791f233257 2 * IRSensor.cpp
Kiwicjam 0:da791f233257 3 * Copyright (c) 2018, ZHAW
Kiwicjam 0:da791f233257 4 * All rights reserved.
Kiwicjam 0:da791f233257 5 */
Kiwicjam 0:da791f233257 6
Kiwicjam 0:da791f233257 7 #include <cmath>
Kiwicjam 0:da791f233257 8 #include "IRSensor.h"
Kiwicjam 0:da791f233257 9
Kiwicjam 0:da791f233257 10 using namespace std;
Kiwicjam 0:da791f233257 11
Kiwicjam 0:da791f233257 12 /**
Kiwicjam 0:da791f233257 13 * Creates an IRSensor object.
Kiwicjam 0:da791f233257 14 * @param distance an analog input object to read the voltage of the sensor.
Kiwicjam 0:da791f233257 15 * @param bit0 a digital output to set the first bit of the multiplexer.
Kiwicjam 0:da791f233257 16 * @param bit1 a digital output to set the second bit of the multiplexer.
Kiwicjam 0:da791f233257 17 * @param bit2 a digital output to set the third bit of the multiplexer.
Kiwicjam 0:da791f233257 18 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
Kiwicjam 0:da791f233257 19 */
Kiwicjam 0:da791f233257 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
Kiwicjam 0:da791f233257 21
Kiwicjam 0:da791f233257 22 // set local references to objects
Kiwicjam 0:da791f233257 23
Kiwicjam 0:da791f233257 24 this->number = number;
Kiwicjam 0:da791f233257 25 }
Kiwicjam 0:da791f233257 26
Kiwicjam 0:da791f233257 27 /**
Kiwicjam 0:da791f233257 28 * Deletes the IRSensor object.
Kiwicjam 0:da791f233257 29 */
Kiwicjam 0:da791f233257 30 IRSensor::~IRSensor() {}
Kiwicjam 0:da791f233257 31
Kiwicjam 0:da791f233257 32 /**
Kiwicjam 0:da791f233257 33 * Gets the distance measured with the IR sensor in [m].
Kiwicjam 0:da791f233257 34 * @return the distance, given in [m].
Kiwicjam 0:da791f233257 35 */
Kiwicjam 0:da791f233257 36 float IRSensor::read() {
Kiwicjam 0:da791f233257 37
Kiwicjam 0:da791f233257 38 bit0 = (number >> 0) & 1;
Kiwicjam 0:da791f233257 39 bit1 = (number >> 1) & 1;
Kiwicjam 0:da791f233257 40 bit2 = (number >> 2) & 1;
Kiwicjam 0:da791f233257 41
Kiwicjam 0:da791f233257 42 float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
Kiwicjam 0:da791f233257 43
Kiwicjam 0:da791f233257 44 return d;
Kiwicjam 0:da791f233257 45 }
Kiwicjam 0:da791f233257 46
Kiwicjam 0:da791f233257 47 /**
Kiwicjam 0:da791f233257 48 * The empty operator is a shorthand notation of the <code>read()</code> method.
Kiwicjam 0:da791f233257 49 */
Kiwicjam 0:da791f233257 50 IRSensor::operator float() {
Kiwicjam 0:da791f233257 51
Kiwicjam 0:da791f233257 52 return read();
Kiwicjam 0:da791f233257 53 }
Kiwicjam 0:da791f233257 54