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IRSensor.cpp@0:92d57d5d9305, 2018-03-23 (annotated)

Committer:
wannesim
Date:
Fri Mar 23 15:44:15 2018 +0000
Revision:
0:92d57d5d9305
Mit TaskWait     ;-)

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wannesim 0:92d57d5d9305 1 /*
wannesim 0:92d57d5d9305 2 * IRSensor.cpp
wannesim 0:92d57d5d9305 3 * Copyright (c) 2018, ZHAW
wannesim 0:92d57d5d9305 4 * All rights reserved.
wannesim 0:92d57d5d9305 5 */
wannesim 0:92d57d5d9305 6
wannesim 0:92d57d5d9305 7 #include <cmath>
wannesim 0:92d57d5d9305 8 #include "IRSensor.h"
wannesim 0:92d57d5d9305 9
wannesim 0:92d57d5d9305 10 using namespace std;
wannesim 0:92d57d5d9305 11
wannesim 0:92d57d5d9305 12 /**
wannesim 0:92d57d5d9305 13 * Creates an IRSensor object.
wannesim 0:92d57d5d9305 14 * @param distance an analog input object to read the voltage of the sensor.
wannesim 0:92d57d5d9305 15 * @param bit0 a digital output to set the first bit of the multiplexer.
wannesim 0:92d57d5d9305 16 * @param bit1 a digital output to set the second bit of the multiplexer.
wannesim 0:92d57d5d9305 17 * @param bit2 a digital output to set the third bit of the multiplexer.
wannesim 0:92d57d5d9305 18 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
wannesim 0:92d57d5d9305 19 */
wannesim 0:92d57d5d9305 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
wannesim 0:92d57d5d9305 21
wannesim 0:92d57d5d9305 22 // set local references to objects
wannesim 0:92d57d5d9305 23
wannesim 0:92d57d5d9305 24 this->number = number;
wannesim 0:92d57d5d9305 25 }
wannesim 0:92d57d5d9305 26
wannesim 0:92d57d5d9305 27 /**
wannesim 0:92d57d5d9305 28 * Deletes the IRSensor object.
wannesim 0:92d57d5d9305 29 */
wannesim 0:92d57d5d9305 30 IRSensor::~IRSensor() {}
wannesim 0:92d57d5d9305 31
wannesim 0:92d57d5d9305 32 /**
wannesim 0:92d57d5d9305 33 * Gets the distance measured with the IR sensor in [m].
wannesim 0:92d57d5d9305 34 * @return the distance, given in [m].
wannesim 0:92d57d5d9305 35 */
wannesim 0:92d57d5d9305 36 float IRSensor::read() {
wannesim 0:92d57d5d9305 37
wannesim 0:92d57d5d9305 38 bit0 = (number >> 0) & 1;
wannesim 0:92d57d5d9305 39 bit1 = (number >> 1) & 1;
wannesim 0:92d57d5d9305 40 bit2 = (number >> 2) & 1;
wannesim 0:92d57d5d9305 41
wannesim 0:92d57d5d9305 42 float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
wannesim 0:92d57d5d9305 43
wannesim 0:92d57d5d9305 44 return d;
wannesim 0:92d57d5d9305 45 }
wannesim 0:92d57d5d9305 46
wannesim 0:92d57d5d9305 47 /**
wannesim 0:92d57d5d9305 48 * The empty operator is a shorthand notation of the <code>read()</code> method.
wannesim 0:92d57d5d9305 49 */
wannesim 0:92d57d5d9305 50 IRSensor::operator float() {
wannesim 0:92d57d5d9305 51
wannesim 0:92d57d5d9305 52 return read();
wannesim 0:92d57d5d9305 53 }
wannesim 0:92d57d5d9305 54