Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P6

rome2_p6 imported

Dependencies:   mbed

IRSensor.cpp@5:957580f33e52, 2018-05-18 (annotated)

Committer:
Appalco
Date:
Fri May 18 13:54:25 2018 +0000
Revision:
5:957580f33e52
Parent:
0:351a2fb21235 
fixed tolerance and wayponts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Appalco 0:351a2fb21235 1 /*
Appalco 0:351a2fb21235 2 * IRSensor.cpp
Appalco 0:351a2fb21235 3 * Copyright (c) 2018, ZHAW
Appalco 0:351a2fb21235 4 * All rights reserved.
Appalco 0:351a2fb21235 5 */
Appalco 0:351a2fb21235 6
Appalco 0:351a2fb21235 7 #include <cmath>
Appalco 0:351a2fb21235 8 #include "IRSensor.h"
Appalco 0:351a2fb21235 9
Appalco 0:351a2fb21235 10 using namespace std;
Appalco 0:351a2fb21235 11
Appalco 0:351a2fb21235 12 /**
Appalco 0:351a2fb21235 13 * Creates an IRSensor object.
Appalco 0:351a2fb21235 14 * @param distance an analog input object to read the voltage of the sensor.
Appalco 0:351a2fb21235 15 * @param bit0 a digital output to set the first bit of the multiplexer.
Appalco 0:351a2fb21235 16 * @param bit1 a digital output to set the second bit of the multiplexer.
Appalco 0:351a2fb21235 17 * @param bit2 a digital output to set the third bit of the multiplexer.
Appalco 0:351a2fb21235 18 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
Appalco 0:351a2fb21235 19 */
Appalco 0:351a2fb21235 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
Appalco 0:351a2fb21235 21
Appalco 0:351a2fb21235 22 // set local references to objects
Appalco 0:351a2fb21235 23
Appalco 0:351a2fb21235 24 this->number = number;
Appalco 0:351a2fb21235 25 }
Appalco 0:351a2fb21235 26
Appalco 0:351a2fb21235 27 /**
Appalco 0:351a2fb21235 28 * Deletes the IRSensor object.
Appalco 0:351a2fb21235 29 */
Appalco 0:351a2fb21235 30 IRSensor::~IRSensor() {}
Appalco 0:351a2fb21235 31
Appalco 0:351a2fb21235 32 /**
Appalco 0:351a2fb21235 33 * Gets the distance measured with the IR sensor in [m].
Appalco 0:351a2fb21235 34 * @return the distance, given in [m].
Appalco 0:351a2fb21235 35 */
Appalco 0:351a2fb21235 36 float IRSensor::read() {
Appalco 0:351a2fb21235 37
Appalco 0:351a2fb21235 38 bit0 = (number >> 0) & 1;
Appalco 0:351a2fb21235 39 bit1 = (number >> 1) & 1;
Appalco 0:351a2fb21235 40 bit2 = (number >> 2) & 1;
Appalco 0:351a2fb21235 41
Appalco 0:351a2fb21235 42 float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
Appalco 0:351a2fb21235 43
Appalco 0:351a2fb21235 44 return d;
Appalco 0:351a2fb21235 45 }
Appalco 0:351a2fb21235 46
Appalco 0:351a2fb21235 47 /**
Appalco 0:351a2fb21235 48 * The empty operator is a shorthand notation of the <code>read()</code> method.
Appalco 0:351a2fb21235 49 */
Appalco 0:351a2fb21235 50 IRSensor::operator float() {
Appalco 0:351a2fb21235 51
Appalco 0:351a2fb21235 52 return read();
Appalco 0:351a2fb21235 53 }
Appalco 0:351a2fb21235 54
Appalco 0:351a2fb21235 55