File content as of revision 0:c88f41ac2cb7:

/*
 * IRSensor.h
 * Copyright (c) 2020, ZHAW
 * All rights reserved.
 */

#include <cmath>
#include "IRSensor.h"

using namespace std;

/**
 * Creates and initialises the driver to read the distance sensors.
 * @param distance the analog input to read a distance value from.
 * @param bit0 a digital output to control the multiplexer.
 * @param bit1 a digital output to control the multiplexer.
 * @param bit2 a digital output to control the multiplexer.
 * @param number the number of the sensor. This value must be between 0 and 5.
 */
IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
    
    this->number = number;
}

/**
 * Deletes this IRSensor object and releases all allocated resources.
 */
IRSensor::~IRSensor() {}

/**
 * This method reads from the distance sensor.
 * @return a distance value, given in [m].
 */
float IRSensor::read() {

    // bitte implementieren!
    bit0 = (number >> 0)&1; 
    bit1 = (number >> 1)&1;
    bit2 = (number >> 2)&1; 
    
    float dist = -0.58f*(sqrt(distance)+0.58f); 
    
    return dist; 
    
    
    
}