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Dependencies: Servo ServoArm mbed
Fork of PES_Official by
Sources/DistanceSensors.cpp
- Committer:
- beacon
- Date:
- 2017-03-19
- Revision:
- 1:388c915756f5
- Parent:
- 0:d267b248eff4
- Child:
- 4:67d7177c213f
File content as of revision 1:388c915756f5:
#include <cmath> #include "Robot.h" DistanceSensors::DistanceSensors() { //Nothing } DistanceSensors::DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) { init(sensorVoltage, bit0, bit1, bit2, number); } //initialise void DistanceSensors::init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) { this->sensorVoltage = sensorVoltage; this->bit0 = bit0; this->bit1 = bit1; this->bit2 = bit2; this->number = number; } DistanceSensors::~DistanceSensors() { } float DistanceSensors::read()//Return the distance of an object { *bit0 = number & 1; // Set the first bit of the Sensors MUX *bit1 = number & 2; // Set the second bit of the Sensors MUX *bit2 = number & 4; // Set the third bit of the Sensors MUX float Usensor=sensorVoltage->read(); //Read the Voltage from the selected distance sensor float Distance=-0.38f*sqrt(Usensor)+0.38f; return Distance; } DistanceSensors::operator float() { return read(); }