Helvijs Kiselis / Mbed 2 deprecated Micromouse

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Show/hide line numbers IRSensor.cpp Source File

IRSensor.cpp

00001 #include <cmath>
00002 #include "IRSensor.h"
00003 
00004 using namespace std;
00005 
00006 IRSensor::IRSensor(AnalogIn& distance)   :
00007                     distance(distance){}
00008 
00009 IRSensor::~IRSensor() {}
00010 
00011 float IRSensor::readL() {
00012     //Links B2
00013     float d2 = 10.2817f*(1/(pow(distance,1.212121f)));
00014     
00015     return d2;
00016     
00017 }
00018 
00019 float IRSensor::readR(){
00020     //Rechts B1
00021     float d1 = 11.6037f*(1/(pow(distance,1.111111f)));
00022     
00023     return d1;
00024 }
00025 
00026 float IRSensor::readC(){
00027     //Vorne B4
00028     float d4 = 28.053f*(1.0f/distance);
00029     
00030     return d4;
00031     }
00032 
00033 //float IRSensor::readB(){}
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