ir_distancesensordriver.cpp

00001 /**
00002   ******************************************************************************
00003   * @file    IR_DistanceSensorDriver.cpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    08-January-2018
00007   * @brief   This file contains the class implementation for the SHARP IR sensor read
00008   *          methods.
00009   ******************************************************************************
00010  */
00011 
00012 #include <SHARP_IR_distance\IR_DistanceSensorDriver\ir_distancesensordriver.hpp>
00013 
00014 /**
00015  * @brief Construct a new c ir distancesensordriver::c ir distancesensordriver object
00016  * 
00017  * @param _ain_pin analog entrance pin
00018  * @param _en_pin digital enable pin
00019  */
00020 C_IR_DistanceSensorDriver::C_IR_DistanceSensorDriver(AnalogIn _ain_pin, DigitalOut _en_pin)
00021     : ain_pin(_ain_pin)
00022     , en_pin(_en_pin)
00023     , value(0)
00024 {
00025 };
00026 
00027 /** @brief  Class destructor
00028 
00029     Destructor method
00030  */
00031 C_IR_DistanceSensorDriver::~C_IR_DistanceSensorDriver()
00032 {
00033 };
00034 
00035 /** @brief  Method for enabling sensor
00036 
00037     
00038     
00039  */
00040 void  C_IR_DistanceSensorDriver::enable(){
00041     en_pin=1;
00042 }
00043 
00044 /** @brief  Method for disabling sensor
00045 
00046     
00047     
00048  */
00049 void  C_IR_DistanceSensorDriver::disable(){
00050     en_pin=0;
00051 }
00052 /*
00053 void  C_IR_DistanceSensorDriver::setValue(float val){
00054     this->value=val;
00055 }
00056 */
00057 
00058 /** @brief  Method for getting value read from sensor
00059 
00060     
00061     @return     value read from sensor
00062  */
00063 float  C_IR_DistanceSensorDriver::getValue(){
00064     return this->value;
00065 }
00066 
00067 /** @brief  Method for getting scaled value read from sensor
00068 
00069     
00070     @return     scaled value read from sensor
00071  */
00072 float C_IR_DistanceSensorDriver::ReadDistance()
00073 {
00074     // read only if sensor enabled
00075     if (this->en_pin == 1){
00076         //read analog pin
00077         float current_value=ain_pin.read();
00078         //-scaling
00079         float scaled_value =   C_IR_DistanceSensorDriver_A * pow(current_value,5)
00080                                 + C_IR_DistanceSensorDriver_B * pow(current_value,4)
00081                                 + C_IR_DistanceSensorDriver_C * pow(current_value,3)
00082                                 + C_IR_DistanceSensorDriver_D * pow(current_value,2)
00083                                 + C_IR_DistanceSensorDriver_E * current_value
00084                                 + C_IR_DistanceSensorDriver_F;
00085                                 
00086         //float scaled_value=current_value; // without scaling, gross signal
00087         this->value=scaled_value;
00088         return this->value;
00089     }
00090     else return 0;
00091 }