Diff: IRSensor.cpp

Revision:

0:96f88638114b

Child:

1:d40ff07e2fe0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Tue Mar 21 14:57:54 2017 +0000
@@ -0,0 +1,67 @@
+/*
+ * 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();
+}