Diff: Sources/DistanceSensors.cpp

Revision:

9:ac362674c480

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/DistanceSensors.cpp	Tue May 02 08:39:35 2017 +0000
@@ -0,0 +1,72 @@
+#include <cmath>
+#include "Robot.h"
+#include "Declarations.h"
+
+
+
+DistanceSensors::DistanceSensors() 
+{
+    //Nothing
+}
+    
+DistanceSensors::DistanceSensors(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{   
+    init(sensorVoltage, frontS, leftS, rightS, bit0, bit1, bit2, number);
+}
+
+//initialise
+void DistanceSensors::init(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{
+    this->sensorVoltage = sensorVoltage;
+    this->frontS = frontS;
+    this->leftS = leftS;
+    this->rightS = rightS;
+    
+    this->bit0 = bit0;
+    this->bit1 = bit1;
+    this->bit2 = bit2;
+    this->number = number;
+}
+
+
+DistanceSensors::~DistanceSensors()
+{ 
+}
+
+
+float DistanceSensors::read()//Return the distance of an object
+{
+    
+    float Usensor;
+  
+    if (number < 6){
+        *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
+        
+        Usensor=sensorVoltage->read(); //Read the Voltage from the selected distance sensor
+    }
+    else{
+        switch(number){
+            case 6:
+                Usensor=frontS->read();
+                break;
+            case 7:
+                Usensor=leftS->read();
+                break;
+            case 8:
+                Usensor=rightS->read();
+                break;
+        }
+    }
+    
+    //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();
+}
+