Texas State IEEE / Mbed 2 deprecated long_range_test

Sharp Long Range IR Sensor testing and calibrating

Dependencies:   mbed

main.cpp@0:d9f7e20a900f, 2016-04-01 (annotated)

Committer:
j_j205
Date:
Fri Apr 01 18:29:38 2016 +0000
Revision:
0:d9f7e20a900f
Long Range Sensor testing and calibrating

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 0:d9f7e20a900f 1 #include "mbed.h"
j_j205 0:d9f7e20a900f 2 #include <cmath> // pow
j_j205 0:d9f7e20a900f 3
j_j205 0:d9f7e20a900f 4 Serial pc(USBTX, USBRX);
j_j205 0:d9f7e20a900f 5
j_j205 0:d9f7e20a900f 6 DigitalOut led_red(LED_RED);
j_j205 0:d9f7e20a900f 7 DigitalOut led_green(LED_GREEN);
j_j205 0:d9f7e20a900f 8 AnalogIn sensor1(PTB2);
j_j205 0:d9f7e20a900f 9 AnalogIn sensor2(PTB3);
j_j205 0:d9f7e20a900f 10 float dist;
j_j205 0:d9f7e20a900f 11
j_j205 0:d9f7e20a900f 12 //float getDist(AnalogIn& sensor);
j_j205 0:d9f7e20a900f 13 float distAdjL(double sensor_read);
j_j205 0:d9f7e20a900f 14 float distAdjR(double sensor_read);
j_j205 0:d9f7e20a900f 15
j_j205 0:d9f7e20a900f 16 int main()
j_j205 0:d9f7e20a900f 17 {
j_j205 0:d9f7e20a900f 18 pc.baud(115200);
j_j205 0:d9f7e20a900f 19
j_j205 0:d9f7e20a900f 20 float percent1 = 0.0;
j_j205 0:d9f7e20a900f 21 float voltage1 = 0.0;
j_j205 0:d9f7e20a900f 22 float percent2 = 0.0;
j_j205 0:d9f7e20a900f 23 float voltage2 = 0.0;
j_j205 0:d9f7e20a900f 24 int count;
j_j205 0:d9f7e20a900f 25 char choice;
j_j205 0:d9f7e20a900f 26
j_j205 0:d9f7e20a900f 27 pc.printf("Enter 'c' for calibration mode or 't' for testing mode.\n");
j_j205 0:d9f7e20a900f 28 pc.printf("Press 'e' to exit.\n");
j_j205 0:d9f7e20a900f 29 choice = pc.getc();
j_j205 0:d9f7e20a900f 30
j_j205 0:d9f7e20a900f 31 switch(choice)
j_j205 0:d9f7e20a900f 32 {
j_j205 0:d9f7e20a900f 33 case 'C':
j_j205 0:d9f7e20a900f 34 case 'c':
j_j205 0:d9f7e20a900f 35 count = 5;
j_j205 0:d9f7e20a900f 36 led_red = 0;
j_j205 0:d9f7e20a900f 37 led_green = 1;
j_j205 0:d9f7e20a900f 38 pc.printf("\nMove target to listed distance and press space bar to measure\n");
j_j205 0:d9f7e20a900f 39 pc.printf("Press 'e' to exit.\n");
j_j205 0:d9f7e20a900f 40
j_j205 0:d9f7e20a900f 41 pc.printf("\nDist Perc1 Volt1 Perc2 Volt2");
j_j205 0:d9f7e20a900f 42 pc.printf("\n%*i", 4, count);
j_j205 0:d9f7e20a900f 43 choice = pc.getc();
j_j205 0:d9f7e20a900f 44
j_j205 0:d9f7e20a900f 45 while(choice != 'q')
j_j205 0:d9f7e20a900f 46 {
j_j205 0:d9f7e20a900f 47 led_red = 0;
j_j205 0:d9f7e20a900f 48 led_green = 1;
j_j205 0:d9f7e20a900f 49 for(int i = 0; i < 250; i++)
j_j205 0:d9f7e20a900f 50 {
j_j205 0:d9f7e20a900f 51 percent1 += sensor1.read();
j_j205 0:d9f7e20a900f 52 voltage1 += 3.3 * sensor1.read();
j_j205 0:d9f7e20a900f 53 percent2 += sensor2.read();
j_j205 0:d9f7e20a900f 54 voltage2 += 3.3 * sensor2.read();
j_j205 0:d9f7e20a900f 55 wait(32e-3);
j_j205 0:d9f7e20a900f 56 }
j_j205 0:d9f7e20a900f 57
j_j205 0:d9f7e20a900f 58 pc.printf(" %f %f %f %f", percent1/250.0, voltage1/250.0, percent2/250.0, voltage2/250.0 );
j_j205 0:d9f7e20a900f 59 percent1 = 0.0;
j_j205 0:d9f7e20a900f 60 voltage1 = 0.0;
j_j205 0:d9f7e20a900f 61 percent2 = 0.0;
j_j205 0:d9f7e20a900f 62 voltage2 = 0.0;
j_j205 0:d9f7e20a900f 63 count++;
j_j205 0:d9f7e20a900f 64 led_red = 1;
j_j205 0:d9f7e20a900f 65 led_green = 0;
j_j205 0:d9f7e20a900f 66
j_j205 0:d9f7e20a900f 67 pc.printf("\n%*i", 4, count);
j_j205 0:d9f7e20a900f 68 choice = pc.getc();
j_j205 0:d9f7e20a900f 69 }
j_j205 0:d9f7e20a900f 70 break;
j_j205 0:d9f7e20a900f 71
j_j205 0:d9f7e20a900f 72 case 'T':
j_j205 0:d9f7e20a900f 73 case 't':
j_j205 0:d9f7e20a900f 74 count = 5;
j_j205 0:d9f7e20a900f 75 pc.printf("\nMove target to distance and press space bar to measure\n");
j_j205 0:d9f7e20a900f 76 pc.printf("Press 'e' to exit.\n");
j_j205 0:d9f7e20a900f 77
j_j205 0:d9f7e20a900f 78 pc.printf("\nDist Meas1 AdjM1 Meas2 AdjM2");
j_j205 0:d9f7e20a900f 79 pc.printf("\n%*i", 4, count + 10);
j_j205 0:d9f7e20a900f 80 choice = pc.getc();
j_j205 0:d9f7e20a900f 81
j_j205 0:d9f7e20a900f 82 while(choice != 'q')
j_j205 0:d9f7e20a900f 83 {
j_j205 0:d9f7e20a900f 84 led_red = 0;
j_j205 0:d9f7e20a900f 85 led_green = 1;
j_j205 0:d9f7e20a900f 86 for(int i = 0; i < 50; i++)
j_j205 0:d9f7e20a900f 87 {
j_j205 0:d9f7e20a900f 88 percent1 += sensor1.read();
j_j205 0:d9f7e20a900f 89 percent2 += sensor2.read();
j_j205 0:d9f7e20a900f 90 wait(32e-3);
j_j205 0:d9f7e20a900f 91 }
j_j205 0:d9f7e20a900f 92
j_j205 0:d9f7e20a900f 93 pc.printf(" %f %f %f %f", 3.5097*pow((percent1/50.0), -1.425), distAdjL(percent1/50.0), 3.4617*pow((percent2/50.0), -1.506), distAdjR(percent2/50.0) );
j_j205 0:d9f7e20a900f 94 percent1 = 0.0;
j_j205 0:d9f7e20a900f 95 percent2 = 0.0;
j_j205 0:d9f7e20a900f 96 count++;
j_j205 0:d9f7e20a900f 97 led_red = 1;
j_j205 0:d9f7e20a900f 98 led_green = 0;
j_j205 0:d9f7e20a900f 99
j_j205 0:d9f7e20a900f 100 pc.printf("\n%*i", 4, count);
j_j205 0:d9f7e20a900f 101 choice = pc.getc();
j_j205 0:d9f7e20a900f 102 }
j_j205 0:d9f7e20a900f 103 break;
j_j205 0:d9f7e20a900f 104
j_j205 0:d9f7e20a900f 105 case 'Q':
j_j205 0:d9f7e20a900f 106 case 'q':
j_j205 0:d9f7e20a900f 107 break;
j_j205 0:d9f7e20a900f 108
j_j205 0:d9f7e20a900f 109 default:
j_j205 0:d9f7e20a900f 110 pc.printf("\nInvalid entry. You're fired.");
j_j205 0:d9f7e20a900f 111 }
j_j205 0:d9f7e20a900f 112 }
j_j205 0:d9f7e20a900f 113
j_j205 0:d9f7e20a900f 114 float distAdjL(double sensor_read)
j_j205 0:d9f7e20a900f 115 {
j_j205 0:d9f7e20a900f 116 double dist_meas = 3.5097*pow(sensor_read, -1.425);
j_j205 0:d9f7e20a900f 117
j_j205 0:d9f7e20a900f 118 double read_error = (0.0052*pow(dist_meas, 2.0)) - (0.3218*dist_meas)
j_j205 0:d9f7e20a900f 119 + 2.6653;
j_j205 0:d9f7e20a900f 120
j_j205 0:d9f7e20a900f 121 return float(dist_meas + read_error);
j_j205 0:d9f7e20a900f 122 }
j_j205 0:d9f7e20a900f 123
j_j205 0:d9f7e20a900f 124 float distAdjR(double sensor_read)
j_j205 0:d9f7e20a900f 125 {
j_j205 0:d9f7e20a900f 126 double dist_meas = 3.4617*pow(sensor_read, -1.506);
j_j205 0:d9f7e20a900f 127
j_j205 0:d9f7e20a900f 128 double read_error = (0.0062*pow(dist_meas, 2.0)) - (0.385*dist_meas)
j_j205 0:d9f7e20a900f 129 + 3.1692;
j_j205 0:d9f7e20a900f 130
j_j205 0:d9f7e20a900f 131 return float(dist_meas + read_error);
j_j205 0:d9f7e20a900f 132 }