Diff: Sources/DistanceSensors.cpp

Revision:

3:63da1d1fae15

Parent:

0:15a8480061e8

--- a/Sources/DistanceSensors.cpp	Thu May 25 18:12:28 2017 +0000
+++ b/Sources/DistanceSensors.cpp	Fri May 26 08:01:48 2017 +0000
@@ -4,19 +4,16 @@
 
 
 
-DistanceSensors::DistanceSensors() 
-{
+DistanceSensors::DistanceSensors() {
     //Nothing
 }
     
-DistanceSensors::DistanceSensors(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
-{   
+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)
-{
+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;
@@ -28,17 +25,12 @@
     this->number = number;
 }
 
+DistanceSensors::~DistanceSensors(){ 
 
-DistanceSensors::~DistanceSensors()
-{ 
 }
 
-
-float DistanceSensors::read()//Return the distance of an object
-{
-    
+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
@@ -59,21 +51,13 @@
                 break;
         }
     }
-    
-    //Usensor=sensorVoltage->read(); //Read the Voltage from the selected distance sensor
     Usensor *= 3.3f;
-    float Distance= 5.906*Usensor*Usensor - 30.831*Usensor + 47.628;
-    Distance /= 100;
-    
-    static float distance_filtered = 0.0f;
-    distance_filtered = 0.55f * distance_filtered + 0.45f * Distance;
-    
-    return Distance;
-    return distance_filtered;
+    float Distance= 5.906f*Usensor*Usensor - 30.831f*Usensor + 47.628f;
+    Distance /= 100.0f;
+    return Distance;  
 }
 
-DistanceSensors::operator float()
-{ 
+DistanceSensors::operator float(){ 
     return read();
 }