zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

a

Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

Sources/USsensor.cpp

Committer:
EpicG10
Date:
2017-05-19
Revision:
18:a158713a0049
Parent:
17:4e1be70bdedb

File content as of revision 18:a158713a0049:

#include <Robot.h>

USsensor::USsensor()
{
}

USsensor::USsensor(Ultraschall* Usensor)
{
    init(Usensor);
}
void USsensor::init(Ultraschall* Usensor)
{
   this->Usensor = Usensor;   
}

float USsensor::read()
{
    static int i = 0;
    Usensor->start();
    if( i ){
        float dist = Usensor->get_dist_cm();
        static float distFiltered = dist;
        
        //distFiltered = 0.05f * distFiltered + 0.95f * dist;
        printf("\n\rmeas= %.3f",distFiltered/100);
        return dist / 100;
        //return dist/100.0f;
    }
    else{
        i++;
        return 0.25f;
    }
}

 USsensor::operator float() 
{
    return read();    
}