Totale Testversion
Dependencies: mbed
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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(); +}