Diff: IRSensor.cpp

Revision:

5:47262622a9bf

Parent:

1:1adf5dfcc7bb

--- a/IRSensor.cpp	Wed Apr 11 15:26:03 2018 +0000
+++ b/IRSensor.cpp	Mon Apr 16 12:44:48 2018 +0000
@@ -8,11 +8,48 @@
 
 IRSensor::~IRSensor() {}
 
-float IRSensor::read() {
+float IRSensor::readL() {
+    //Links B2
+    float a1 = -4.474f*pow(10.0f,4.0f);
+    float a2 = 8.415f*pow(10.0f,4.0f);
+    float a3 = -6.279f*pow(10.0f,4.0f);
+    float a4 = 2.36f*pow(10.0f,4.0f);
+    float a5 = -4670.0f;
+    float a6 =  445.1f;
+    
+
+    float d2 = a1*pow(distance,5) + a2*pow(distance,4) + a3*pow(distance,3) + a4*pow(distance,2) + a5*distance + a6;
+    
+    return d2;
     
-    float d = -0.58f*sqrt(distance)+0.58f;
-    //float d = distance;
+}
+
+float IRSensor::readR(){
+    //Rechts B1
+    float b1 = -1.079f*pow(10.0f,4.0f);
+    float b2 = 2.404f*pow(10.0f,4.0f);
+    float b3 = -2.179f*pow(10.0f,4.0f);
+    float b4 = 1.012f*pow(10.0f,4.0f);
+    float b5 = -2519.0f;
+    float b6 = 310.8f;
+    
+    float d1 = b1*pow(distance,5) + b2*pow(distance,4) + b3*pow(distance,3) + b4*pow(distance,2) + b5*distance + b6;
     
-    return d;
+    return d1;
+}
+
+float IRSensor::readC(){
+    //Vorne B4
+    float c1 = -2.681f*pow(10.0f,4.0f);
+    float c2 = 6.007f*pow(10.0f,4.0f);
+    float c3 = -5.32f*pow(10.0f,4.0f);
+    float c4 = 2.377f*pow(10.0f,4.0f);
+    float c5 = -5686.0f;
+    float c6 = 697.8f;
     
-}
\ No newline at end of file
+    float d4 = c1*pow(distance,5) + c2*pow(distance,4) + c3*pow(distance,3) + c4*pow(distance,2) + c5*distance + c6;
+    
+    return d4;
+    }
+
+//float IRSensor::readB(){}
\ No newline at end of file