Diff: IRSensor.cpp

Revision:

2:365bf16abbf6

Parent:

1:d40ff07e2fe0

diff -r d40ff07e2fe0 -r 365bf16abbf6 IRSensor.cpp
--- a/IRSensor.cpp	Wed May 10 09:14:12 2017 +0000
+++ b/IRSensor.cpp	Tue May 16 14:14:08 2017 +0000
@@ -11,24 +11,28 @@
 
 IRSensor::IRSensor() {}
 
-IRSensor::IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) {
+IRSensor::IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{
     this->distance = distance;  //Weist den Objektvariablen, die eingegebenen Werte zu
     this->bit0 = bit0;
     this->bit1 = bit1;
     this->bit2 = bit2;
     this->number = number;
+    this->filteredValue = 0.0f;
 }
 
 //Destruktor -> Löscht das IRSensor-Objekt
 IRSensor::~IRSensor() {}
 
 //Initialisiert nachträglich
-void IRSensor::init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) {
+void IRSensor::init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{
     this->distance = distance;  //Weist den Objektvariablen, die eingegebenen Werte zu
     this->bit0 = bit0;
     this->bit1 = bit1;
     this->bit2 = bit2;
     this->number = number;
+    this->filteredValue = 0.0f;
 }
 
 //Distanzrechner
@@ -39,5 +43,13 @@
     *bit2 = (number >> 2) & 1;  //Vergleicht das dritte Bit von rechts
 
     float d = distance->read();
+
+    this->filteredValue = 0.99f* this->filteredValue + 0.01f * d;
     return d;
-}
\ No newline at end of file
+}
+
+float IRSensor::readFitered()
+{
+    return this->filteredValue;
+}
+