File content as of revision 0:c8c67fabc804:

#include "LongRangeSensor.h"
#include "mbed.h"
#include <cmath> // pow

// FUNCTION:
//      LongRangeSensor(Serial &pc1, PinName _sensor)
// IN-PARAMETERS:
//      Serial &pc1, PinName _sensor
// OUT-PARAMETERS:
//      None
// DESCRIPTION:
//      Constructor.
LongRangeSensor::LongRangeSensor(Serial &pc1, PinName _sensor) : 
    pc(pc1), sensor(_sensor) 
{}

// FUNCTION:
//      distL()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      Returns distance in cm
// DESCRIPTION:
//      Returns average of 3 readings in cm.
float LongRangeSensor::distL()
{
    double sensorRead = 0.0;
    
    for(int i = 0; i < 3; i++)
                {
                    sensorRead += sensor.read();
                    wait(20e-3);
                }
    sensorRead = sensorRead/3.0;
    
    double distMeas = 3.5097*pow(sensorRead, -1.425);
    
    return distMeas;
}

// FUNCTION:
//      distInchesL()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      Returns distance in cm
// DESCRIPTION:
//      Returns average of 3 readings in inches.
float LongRangeSensor::distInchesL()
{
    double sensorRead = 0.0;
    
    for(int i = 0; i < 3; i++)
                {
                    sensorRead += sensor.read();
                    wait(20e-3);
                }
    sensorRead = sensorRead/3.0;
    
    double distMeas = 3.5097*pow(sensorRead, -1.425);
    
    return distMeas*0.393701;
}

// FUNCTION:
//      distR()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      Returns distance in cm
// DESCRIPTION:
//      Returns average of 3 readings in cm.
float LongRangeSensor::distR()
{
    double sensorRead = 0.0;
    
    for(int i = 0; i < 3; i++)
                {
                    sensorRead += sensor.read();
                    wait(20e-3);
                }
    sensorRead = sensorRead/3.0;
    
    double distMeas = 3.4617*pow(sensorRead, -1.506);
    
    return distMeas;
}

// FUNCTION:
//      distInchesR()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      Returns distance in cm
// DESCRIPTION:
//      Returns average of 3 readings in inches.
float LongRangeSensor::distInchesR()
{
    double sensorRead = 0.0;
    
    for(int i = 0; i < 3; i++)
                {
                    sensorRead += sensor.read();
                    wait(20e-3);
                }
    sensorRead = sensorRead/3.0;
    
    double distMeas = 3.4617*pow(sensorRead, -1.506);
    
    return distMeas*0.393701;
}

// FUNCTION:
//      distAdjL()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      Returns adjusted distance in cm
// DESCRIPTION:
//      Gets dist from sensor L and adjusts for error.
float LongRangeSensor::distAdjL()
{
    double sensorRead = 0.0;
    
    for(int i = 0; i < 3; i++)
                {
                    sensorRead += sensor.read();
                    wait(20e-3);
                }
    sensorRead = sensorRead/3.0;
    
    double distMeas = 3.5097*pow(sensorRead, -1.425);
    
    double readError = (0.0052*pow(distMeas, 2.0)) - (0.3218*distMeas) 
                + 2.6653;
    
    return float(distMeas + readError);
}

// FUNCTION:
//      distAdjR()
// IN-PARAMETERS:
//      None
// OUT-PARAMETERS:
//      Returns adjusted distance in cm.
// DESCRIPTION:
//      Gets dist for sensor R and adjusts for error.
float LongRangeSensor::distAdjR()
{
    double sensorRead = 0.0;
    
    for(int i = 0; i < 3; i++)
                {
                    sensorRead += sensor.read();
                    wait(20e-3);
                }
    sensorRead = sensorRead/3.0;
    
    double distMeas = 3.4617*pow(sensorRead, -1.506);
    
    double readError = (0.0062*pow(distMeas, 2.0)) - (0.385*distMeas)
                + 3.1692;
                
    return float(distMeas + readError);
}