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Dependencies:   mbed

IRSensor.cpp@3:9433326c2248, 2018-03-16 (annotated)

Committer:
Appalco
Date:
Fri Mar 16 19:44:20 2018 +0000
Revision:
3:9433326c2248
Parent:
0:e360940c4b88 
added commented untested fwd  detection

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Appalco 0:e360940c4b88 1 /*
Appalco 0:e360940c4b88 2 * IRSensor.cpp
Appalco 0:e360940c4b88 3 * Copyright (c) 2018, ZHAW
Appalco 0:e360940c4b88 4 * All rights reserved.
Appalco 0:e360940c4b88 5 */
Appalco 0:e360940c4b88 6
Appalco 0:e360940c4b88 7 #include <cmath>
Appalco 0:e360940c4b88 8 #include "IRSensor.h"
Appalco 0:e360940c4b88 9
Appalco 0:e360940c4b88 10 using namespace std;
Appalco 0:e360940c4b88 11
Appalco 0:e360940c4b88 12 /**
Appalco 0:e360940c4b88 13 * Creates an IRSensor object.
Appalco 0:e360940c4b88 14 * @param distance an analog input object to read the voltage of the sensor.
Appalco 0:e360940c4b88 15 * @param bit0 a digital output to set the first bit of the multiplexer.
Appalco 0:e360940c4b88 16 * @param bit1 a digital output to set the second bit of the multiplexer.
Appalco 0:e360940c4b88 17 * @param bit2 a digital output to set the third bit of the multiplexer.
Appalco 0:e360940c4b88 18 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
Appalco 0:e360940c4b88 19 */
Appalco 0:e360940c4b88 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
Appalco 0:e360940c4b88 21
Appalco 0:e360940c4b88 22 // set local references to objects
Appalco 0:e360940c4b88 23
Appalco 0:e360940c4b88 24 this->number = number;
Appalco 0:e360940c4b88 25 }
Appalco 0:e360940c4b88 26
Appalco 0:e360940c4b88 27 /**
Appalco 0:e360940c4b88 28 * Deletes the IRSensor object.
Appalco 0:e360940c4b88 29 */
Appalco 0:e360940c4b88 30 IRSensor::~IRSensor() {}
Appalco 0:e360940c4b88 31
Appalco 0:e360940c4b88 32 /**
Appalco 0:e360940c4b88 33 * Gets the distance measured with the IR sensor in [m].
Appalco 0:e360940c4b88 34 * @return the distance, given in [m].
Appalco 0:e360940c4b88 35 */
Appalco 0:e360940c4b88 36 float IRSensor::read() {
Appalco 0:e360940c4b88 37
Appalco 0:e360940c4b88 38 bit0 = (number >> 0) & 1;
Appalco 0:e360940c4b88 39 bit1 = (number >> 1) & 1;
Appalco 0:e360940c4b88 40 bit2 = (number >> 2) & 1;
Appalco 0:e360940c4b88 41
Appalco 0:e360940c4b88 42 float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
Appalco 0:e360940c4b88 43
Appalco 0:e360940c4b88 44 return d;
Appalco 0:e360940c4b88 45 }
Appalco 0:e360940c4b88 46
Appalco 0:e360940c4b88 47 /**
Appalco 0:e360940c4b88 48 * The empty operator is a shorthand notation of the <code>read()</code> method.
Appalco 0:e360940c4b88 49 */
Appalco 0:e360940c4b88 50 IRSensor::operator float() {
Appalco 0:e360940c4b88 51
Appalco 0:e360940c4b88 52 return read();
Appalco 0:e360940c4b88 53 }
Appalco 0:e360940c4b88 54
Appalco 0:e360940c4b88 55