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/USsensor.cpp@18:a158713a0049, 2017-05-19 (annotated)

Committer:
EpicG10
Date:
Fri May 19 06:40:33 2017 +0000
Revision:
18:a158713a0049
Parent:
17:4e1be70bdedb 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 17:4e1be70bdedb 1 #include <Robot.h>
beacon 17:4e1be70bdedb 2
beacon 17:4e1be70bdedb 3 USsensor::USsensor()
beacon 17:4e1be70bdedb 4 {
beacon 17:4e1be70bdedb 5 }
beacon 17:4e1be70bdedb 6
beacon 17:4e1be70bdedb 7 USsensor::USsensor(Ultraschall* Usensor)
beacon 17:4e1be70bdedb 8 {
beacon 17:4e1be70bdedb 9 init(Usensor);
beacon 17:4e1be70bdedb 10 }
beacon 17:4e1be70bdedb 11 void USsensor::init(Ultraschall* Usensor)
beacon 17:4e1be70bdedb 12 {
beacon 17:4e1be70bdedb 13 this->Usensor = Usensor;
beacon 17:4e1be70bdedb 14 }
beacon 17:4e1be70bdedb 15
beacon 17:4e1be70bdedb 16 float USsensor::read()
beacon 17:4e1be70bdedb 17 {
beacon 17:4e1be70bdedb 18 static int i = 0;
beacon 17:4e1be70bdedb 19 Usensor->start();
beacon 17:4e1be70bdedb 20 if( i ){
beacon 17:4e1be70bdedb 21 float dist = Usensor->get_dist_cm();
beacon 17:4e1be70bdedb 22 static float distFiltered = dist;
beacon 17:4e1be70bdedb 23
EpicG10 18:a158713a0049 24 //distFiltered = 0.05f * distFiltered + 0.95f * dist;
EpicG10 18:a158713a0049 25 printf("\n\rmeas= %.3f",distFiltered/100);
EpicG10 18:a158713a0049 26 return dist / 100;
beacon 17:4e1be70bdedb 27 //return dist/100.0f;
beacon 17:4e1be70bdedb 28 }
beacon 17:4e1be70bdedb 29 else{
beacon 17:4e1be70bdedb 30 i++;
beacon 17:4e1be70bdedb 31 return 0.25f;
beacon 17:4e1be70bdedb 32 }
beacon 17:4e1be70bdedb 33 }
beacon 17:4e1be70bdedb 34
beacon 17:4e1be70bdedb 35 USsensor::operator float()
beacon 17:4e1be70bdedb 36 {
beacon 17:4e1be70bdedb 37 return read();
beacon 17:4e1be70bdedb 38 }