Whose Line is it Anyways / Mbed OS PM2_WLiiA_robot_code

robot code for summer school

Dependencies:   PM2_Libary Eigen

Fork of PM2_Example_Summer_School by Alex Hawkins

IRSensor.cpp@49:7da71f479dac, 2022-05-25 (annotated)

Committer:
seas726
Date:
Wed May 25 11:36:19 2022 +0200
Revision:
49:7da71f479dac
speed control new files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
seas726 49:7da71f479dac 1 /*
seas726 49:7da71f479dac 2 * IRSensor.h
seas726 49:7da71f479dac 3 * Copyright (c) 2022, ZHAW
seas726 49:7da71f479dac 4 * All rights reserved.
seas726 49:7da71f479dac 5 */
seas726 49:7da71f479dac 6
seas726 49:7da71f479dac 7 #include <cmath>
seas726 49:7da71f479dac 8 #include "IRSensor.h"
seas726 49:7da71f479dac 9
seas726 49:7da71f479dac 10 using namespace std;
seas726 49:7da71f479dac 11
seas726 49:7da71f479dac 12 /**
seas726 49:7da71f479dac 13 * Creates and initialises the driver to read the distance sensors.
seas726 49:7da71f479dac 14 * @param distance the analog input to read a distance value from.
seas726 49:7da71f479dac 15 * @param bit0 a digital output to control the multiplexer.
seas726 49:7da71f479dac 16 * @param bit1 a digital output to control the multiplexer.
seas726 49:7da71f479dac 17 * @param bit2 a digital output to control the multiplexer.
seas726 49:7da71f479dac 18 * @param number the number of the sensor. This value must be between 0 and 5.
seas726 49:7da71f479dac 19 */
seas726 49:7da71f479dac 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
seas726 49:7da71f479dac 21
seas726 49:7da71f479dac 22 this->number = number;
seas726 49:7da71f479dac 23 }
seas726 49:7da71f479dac 24
seas726 49:7da71f479dac 25 /**
seas726 49:7da71f479dac 26 * Deletes this IRSensor object and releases all allocated resources.
seas726 49:7da71f479dac 27 */
seas726 49:7da71f479dac 28 IRSensor::~IRSensor() {}
seas726 49:7da71f479dac 29
seas726 49:7da71f479dac 30 /**
seas726 49:7da71f479dac 31 * This method reads from the distance sensor.
seas726 49:7da71f479dac 32 * @return a distance value, given in [m].
seas726 49:7da71f479dac 33 */
seas726 49:7da71f479dac 34 float IRSensor::read() {
seas726 49:7da71f479dac 35
seas726 49:7da71f479dac 36 bit0 = (number >> 0) & 1;
seas726 49:7da71f479dac 37 bit1 = (number >> 1) & 1;
seas726 49:7da71f479dac 38 bit2 = (number >> 2) & 1;
seas726 49:7da71f479dac 39
seas726 49:7da71f479dac 40 float d = 0.09f/(distance+0.001f)-0.03f; // calculate the distance in [m]
seas726 49:7da71f479dac 41
seas726 49:7da71f479dac 42 return d;
seas726 49:7da71f479dac 43 }
seas726 49:7da71f479dac 44
seas726 49:7da71f479dac 45 /**
seas726 49:7da71f479dac 46 * The empty operator is a shorthand notation of the <code>read()</code> method.
seas726 49:7da71f479dac 47 */
seas726 49:7da71f479dac 48 /*
seas726 49:7da71f479dac 49 IRSensor::operator float() {
seas726 49:7da71f479dac 50
seas726 49:7da71f479dac 51 return read();
seas726 49:7da71f479dac 52 }
seas726 49:7da71f479dac 53 */