zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Official

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Dependencies:   Servo ServoArm mbed

Sources/USsensor.cpp@0:15a8480061e8, 2017-05-22 (annotated)

Committer:
beacon
Date:
Mon May 22 11:24:46 2017 +0000
Revision:
0:15a8480061e8
o

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 0:15a8480061e8 1 #include <Robot.h>
beacon 0:15a8480061e8 2
beacon 0:15a8480061e8 3 USsensor::USsensor()
beacon 0:15a8480061e8 4 {
beacon 0:15a8480061e8 5 }
beacon 0:15a8480061e8 6
beacon 0:15a8480061e8 7 USsensor::USsensor(Ultraschall* Usensor)
beacon 0:15a8480061e8 8 {
beacon 0:15a8480061e8 9 init(Usensor);
beacon 0:15a8480061e8 10 }
beacon 0:15a8480061e8 11 void USsensor::init(Ultraschall* Usensor)
beacon 0:15a8480061e8 12 {
beacon 0:15a8480061e8 13 this->Usensor = Usensor;
beacon 0:15a8480061e8 14 }
beacon 0:15a8480061e8 15
beacon 0:15a8480061e8 16 float USsensor::read()
beacon 0:15a8480061e8 17 {
beacon 0:15a8480061e8 18 static int i = 0;
beacon 0:15a8480061e8 19 Usensor->start();
beacon 0:15a8480061e8 20 if( i ){
beacon 0:15a8480061e8 21 float dist = Usensor->get_dist_cm();
beacon 0:15a8480061e8 22 static float distFiltered = dist;
beacon 0:15a8480061e8 23
beacon 0:15a8480061e8 24 distFiltered = 0.05f * distFiltered + 0.95f * dist;
beacon 0:15a8480061e8 25 return distFiltered / 100;
beacon 0:15a8480061e8 26 //return dist/100.0f;
beacon 0:15a8480061e8 27 }
beacon 0:15a8480061e8 28 else{
beacon 0:15a8480061e8 29 i++;
beacon 0:15a8480061e8 30 return 0.25f;
beacon 0:15a8480061e8 31 }
beacon 0:15a8480061e8 32 }
beacon 0:15a8480061e8 33
beacon 0:15a8480061e8 34 USsensor::operator float()
beacon 0:15a8480061e8 35 {
beacon 0:15a8480061e8 36 return read();
beacon 0:15a8480061e8 37 }