Gugus
Dependencies: mbed
IRSensor.cpp
- Committer:
- EHess
- Date:
- 2017-03-21
- Revision:
- 0:96f88638114b
File content as of revision 0:96f88638114b:
/* * IRSensor.cpp * Copyright (c) 2016, ZHAW * All rights reserved. */ #include <cmath> #include "IRSensor.h" /** * Creates an IRSensor object. * @param distance an analog input object to read the voltage of the sensor. * @param bit0 a digital output to set the first bit of the multiplexer. * @param bit1 a digital output to set the second bit of the multiplexer. * @param bit2 a digital output to set the third bit of the multiplexer. * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5. */ IRSensor::IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) { init(distance, bit0, bit1, bit2, number); } IRSensor::IRSensor() { } void IRSensor::init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) { this->distance = distance; // set local references to objects this->bit0 = bit0; this->bit1 = bit1; this->bit2 = bit2; this->number = number; } /** * Deletes the IRSensor object. */ IRSensor::~IRSensor() {} /** * Gets the distance measured with the IR sensor in [m]. * @return the distance, given in [m]. */ float IRSensor::read() { *bit0 = (number >> 0) & 1; *bit1 = (number >> 1) & 1; *bit2 = (number >> 2) & 1; float d = -0.38f*sqrt(distance->read())+0.38f; // calculate the distance in [m] return d; } /** * The empty operator is a shorthand notation of the <code>read()</code> method. */ IRSensor::operator float() { return read(); }