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Dependencies:   mbed

IRSensor.cpp@1:2b5f79285a3e, 2018-04-19 (annotated)

Committer:
Helvis
Date:
Thu Apr 19 06:19:43 2018 +0000
Revision:
1:2b5f79285a3e
Child:
3:076dd7ec7eb4
Micromouse V0.9: Tresholds + Regler noch anpassen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helvis 1:2b5f79285a3e 1 #include <cmath>
Helvis 1:2b5f79285a3e 2 #include "IRSensor.h"
Helvis 1:2b5f79285a3e 3
Helvis 1:2b5f79285a3e 4 using namespace std;
Helvis 1:2b5f79285a3e 5
Helvis 1:2b5f79285a3e 6 IRSensor::IRSensor(AnalogIn& distance) :
Helvis 1:2b5f79285a3e 7 distance(distance){}
Helvis 1:2b5f79285a3e 8
Helvis 1:2b5f79285a3e 9 IRSensor::~IRSensor() {}
Helvis 1:2b5f79285a3e 10
Helvis 1:2b5f79285a3e 11 float IRSensor::readL() {
Helvis 1:2b5f79285a3e 12 //Links B2
Helvis 1:2b5f79285a3e 13 float a1 = -4.474f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 14 float a2 = 8.415f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 15 float a3 = -6.279f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 16 float a4 = 2.36f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 17 float a5 = -4670.0f;
Helvis 1:2b5f79285a3e 18 float a6 = 445.1f;
Helvis 1:2b5f79285a3e 19
Helvis 1:2b5f79285a3e 20
Helvis 1:2b5f79285a3e 21 float d2 = a1*pow(distance,5) + a2*pow(distance,4) + a3*pow(distance,3) + a4*pow(distance,2) + a5*distance + a6;
Helvis 1:2b5f79285a3e 22
Helvis 1:2b5f79285a3e 23 return d2;
Helvis 1:2b5f79285a3e 24
Helvis 1:2b5f79285a3e 25 }
Helvis 1:2b5f79285a3e 26
Helvis 1:2b5f79285a3e 27 float IRSensor::readR(){
Helvis 1:2b5f79285a3e 28 //Rechts B1
Helvis 1:2b5f79285a3e 29 float b1 = -1.079f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 30 float b2 = 2.404f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 31 float b3 = -2.179f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 32 float b4 = 1.012f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 33 float b5 = -2519.0f;
Helvis 1:2b5f79285a3e 34 float b6 = 310.8f;
Helvis 1:2b5f79285a3e 35
Helvis 1:2b5f79285a3e 36 float d1 = b1*pow(distance,5) + b2*pow(distance,4) + b3*pow(distance,3) + b4*pow(distance,2) + b5*distance + b6;
Helvis 1:2b5f79285a3e 37
Helvis 1:2b5f79285a3e 38 return d1;
Helvis 1:2b5f79285a3e 39 }
Helvis 1:2b5f79285a3e 40
Helvis 1:2b5f79285a3e 41 float IRSensor::readC(){
Helvis 1:2b5f79285a3e 42 //Vorne B4
Helvis 1:2b5f79285a3e 43 float c1 = -2.681f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 44 float c2 = 6.007f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 45 float c3 = -5.32f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 46 float c4 = 2.377f*pow(10.0f,4.0f);
Helvis 1:2b5f79285a3e 47 float c5 = -5686.0f;
Helvis 1:2b5f79285a3e 48 float c6 = 697.8f;
Helvis 1:2b5f79285a3e 49
Helvis 1:2b5f79285a3e 50 float d4 = c1*pow(distance,5) + c2*pow(distance,4) + c3*pow(distance,3) + c4*pow(distance,2) + c5*distance + c6;
Helvis 1:2b5f79285a3e 51
Helvis 1:2b5f79285a3e 52 return d4;
Helvis 1:2b5f79285a3e 53 }
Helvis 1:2b5f79285a3e 54
Helvis 1:2b5f79285a3e 55 //float IRSensor::readB(){}