zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

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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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