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Dependencies: Servo ServoArm mbed
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Sources/DistanceSensors.cpp@1:388c915756f5, 2017-03-19 (annotated)
- Committer:
- beacon
- Date:
- Sun Mar 19 12:20:26 2017 +0000
- Revision:
- 1:388c915756f5
- Parent:
- 0:d267b248eff4
- Child:
- 4:67d7177c213f
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beacon | 0:d267b248eff4 | 1 | #include <cmath> |
beacon | 0:d267b248eff4 | 2 | #include "Robot.h" |
beacon | 0:d267b248eff4 | 3 | |
beacon | 0:d267b248eff4 | 4 | |
beacon | 0:d267b248eff4 | 5 | |
beacon | 1:388c915756f5 | 6 | DistanceSensors::DistanceSensors() |
beacon | 0:d267b248eff4 | 7 | { |
beacon | 0:d267b248eff4 | 8 | //Nothing |
beacon | 0:d267b248eff4 | 9 | } |
beacon | 0:d267b248eff4 | 10 | |
beacon | 1:388c915756f5 | 11 | DistanceSensors::DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) |
beacon | 0:d267b248eff4 | 12 | { |
beacon | 0:d267b248eff4 | 13 | init(sensorVoltage, bit0, bit1, bit2, number); |
beacon | 0:d267b248eff4 | 14 | } |
beacon | 0:d267b248eff4 | 15 | |
beacon | 0:d267b248eff4 | 16 | //initialise |
beacon | 1:388c915756f5 | 17 | void DistanceSensors::init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number) |
beacon | 0:d267b248eff4 | 18 | { |
beacon | 0:d267b248eff4 | 19 | this->sensorVoltage = sensorVoltage; |
beacon | 0:d267b248eff4 | 20 | this->bit0 = bit0; |
beacon | 0:d267b248eff4 | 21 | this->bit1 = bit1; |
beacon | 1:388c915756f5 | 22 | this->bit2 = bit2; |
beacon | 1:388c915756f5 | 23 | this->number = number; |
beacon | 0:d267b248eff4 | 24 | } |
beacon | 0:d267b248eff4 | 25 | |
beacon | 0:d267b248eff4 | 26 | |
beacon | 1:388c915756f5 | 27 | DistanceSensors::~DistanceSensors() |
beacon | 0:d267b248eff4 | 28 | { |
beacon | 0:d267b248eff4 | 29 | } |
beacon | 0:d267b248eff4 | 30 | |
beacon | 0:d267b248eff4 | 31 | |
beacon | 1:388c915756f5 | 32 | float DistanceSensors::read()//Return the distance of an object |
beacon | 0:d267b248eff4 | 33 | { |
beacon | 0:d267b248eff4 | 34 | *bit0 = number & 1; // Set the first bit of the Sensors MUX |
beacon | 0:d267b248eff4 | 35 | *bit1 = number & 2; // Set the second bit of the Sensors MUX |
beacon | 0:d267b248eff4 | 36 | *bit2 = number & 4; // Set the third bit of the Sensors MUX |
beacon | 0:d267b248eff4 | 37 | |
beacon | 0:d267b248eff4 | 38 | float Usensor=sensorVoltage->read(); //Read the Voltage from the selected distance sensor |
beacon | 0:d267b248eff4 | 39 | float Distance=-0.38f*sqrt(Usensor)+0.38f; |
beacon | 0:d267b248eff4 | 40 | return Distance; |
beacon | 0:d267b248eff4 | 41 | } |
beacon | 0:d267b248eff4 | 42 | |
beacon | 1:388c915756f5 | 43 | DistanceSensors::operator float() |
beacon | 0:d267b248eff4 | 44 | { |
beacon | 0:d267b248eff4 | 45 | return read(); |
beacon | 0:d267b248eff4 | 46 | } |
beacon | 0:d267b248eff4 | 47 |