Allan Brignoli / Mbed 2 deprecated Rome2_P6

gugus

Dependencies:   mbed

IRSensor.cpp@0:1a0321f1ffbc, 2018-05-18 (annotated)

Committer:
Brignall
Date:
Fri May 18 12:18:21 2018 +0000
Revision:
0:1a0321f1ffbc
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brignall 0:1a0321f1ffbc 1 /*
Brignall 0:1a0321f1ffbc 2 * IRSensor.cpp
Brignall 0:1a0321f1ffbc 3 * Copyright (c) 2018, ZHAW
Brignall 0:1a0321f1ffbc 4 * All rights reserved.
Brignall 0:1a0321f1ffbc 5 */
Brignall 0:1a0321f1ffbc 6
Brignall 0:1a0321f1ffbc 7 #include <cmath>
Brignall 0:1a0321f1ffbc 8 #include "IRSensor.h"
Brignall 0:1a0321f1ffbc 9
Brignall 0:1a0321f1ffbc 10 using namespace std;
Brignall 0:1a0321f1ffbc 11
Brignall 0:1a0321f1ffbc 12 /**
Brignall 0:1a0321f1ffbc 13 * Creates an IRSensor object.
Brignall 0:1a0321f1ffbc 14 * @param distance an analog input object to read the voltage of the sensor.
Brignall 0:1a0321f1ffbc 15 * @param bit0 a digital output to set the first bit of the multiplexer.
Brignall 0:1a0321f1ffbc 16 * @param bit1 a digital output to set the second bit of the multiplexer.
Brignall 0:1a0321f1ffbc 17 * @param bit2 a digital output to set the third bit of the multiplexer.
Brignall 0:1a0321f1ffbc 18 * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
Brignall 0:1a0321f1ffbc 19 */
Brignall 0:1a0321f1ffbc 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
Brignall 0:1a0321f1ffbc 21
Brignall 0:1a0321f1ffbc 22 // set local references to objects
Brignall 0:1a0321f1ffbc 23
Brignall 0:1a0321f1ffbc 24 this->number = number;
Brignall 0:1a0321f1ffbc 25 }
Brignall 0:1a0321f1ffbc 26
Brignall 0:1a0321f1ffbc 27 /**
Brignall 0:1a0321f1ffbc 28 * Deletes the IRSensor object.
Brignall 0:1a0321f1ffbc 29 */
Brignall 0:1a0321f1ffbc 30 IRSensor::~IRSensor() {}
Brignall 0:1a0321f1ffbc 31
Brignall 0:1a0321f1ffbc 32 /**
Brignall 0:1a0321f1ffbc 33 * Gets the distance measured with the IR sensor in [m].
Brignall 0:1a0321f1ffbc 34 * @return the distance, given in [m].
Brignall 0:1a0321f1ffbc 35 */
Brignall 0:1a0321f1ffbc 36 float IRSensor::read() {
Brignall 0:1a0321f1ffbc 37
Brignall 0:1a0321f1ffbc 38 bit0 = (number >> 0) & 1;
Brignall 0:1a0321f1ffbc 39 bit1 = (number >> 1) & 1;
Brignall 0:1a0321f1ffbc 40 bit2 = (number >> 2) & 1;
Brignall 0:1a0321f1ffbc 41
Brignall 0:1a0321f1ffbc 42 float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
Brignall 0:1a0321f1ffbc 43
Brignall 0:1a0321f1ffbc 44 return d;
Brignall 0:1a0321f1ffbc 45 }
Brignall 0:1a0321f1ffbc 46
Brignall 0:1a0321f1ffbc 47 /**
Brignall 0:1a0321f1ffbc 48 * The empty operator is a shorthand notation of the <code>read()</code> method.
Brignall 0:1a0321f1ffbc 49 */
Brignall 0:1a0321f1ffbc 50 IRSensor::operator float() {
Brignall 0:1a0321f1ffbc 51
Brignall 0:1a0321f1ffbc 52 return read();
Brignall 0:1a0321f1ffbc 53 }
Brignall 0:1a0321f1ffbc 54
Brignall 0:1a0321f1ffbc 55