zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Official

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Dependencies:   Servo ServoArm mbed

Diff: Sources/USsensor.cpp

Revision:
0:15a8480061e8
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/USsensor.cpp	Mon May 22 11:24:46 2017 +0000
@@ -0,0 +1,37 @@
+#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;
+        return distFiltered / 100;
+        //return dist/100.0f;
+    }
+    else{
+        i++;
+        return 0.25f;
+    }
+}
+
+ USsensor::operator float() 
+{
+    return read();    
+}
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