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Rome_P1
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IRSensor.cpp@2:f381fc3a8eaf, 2020-02-26 (annotated)
- Committer:
- wengefa1
- Date:
- Wed Feb 26 14:20:16 2020 +0000
- Revision:
- 2:f381fc3a8eaf
- Parent:
- 0:c88f41ac2cb7
Motor Controller added
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| wengefa1 | 0:c88f41ac2cb7 | 1 | /* |
| wengefa1 | 0:c88f41ac2cb7 | 2 | * IRSensor.h |
| wengefa1 | 0:c88f41ac2cb7 | 3 | * Copyright (c) 2020, ZHAW |
| wengefa1 | 0:c88f41ac2cb7 | 4 | * All rights reserved. |
| wengefa1 | 0:c88f41ac2cb7 | 5 | */ |
| wengefa1 | 0:c88f41ac2cb7 | 6 | |
| wengefa1 | 0:c88f41ac2cb7 | 7 | #include <cmath> |
| wengefa1 | 0:c88f41ac2cb7 | 8 | #include "IRSensor.h" |
| wengefa1 | 0:c88f41ac2cb7 | 9 | |
| wengefa1 | 0:c88f41ac2cb7 | 10 | using namespace std; |
| wengefa1 | 0:c88f41ac2cb7 | 11 | |
| wengefa1 | 0:c88f41ac2cb7 | 12 | /** |
| wengefa1 | 0:c88f41ac2cb7 | 13 | * Creates and initialises the driver to read the distance sensors. |
| wengefa1 | 0:c88f41ac2cb7 | 14 | * @param distance the analog input to read a distance value from. |
| wengefa1 | 0:c88f41ac2cb7 | 15 | * @param bit0 a digital output to control the multiplexer. |
| wengefa1 | 0:c88f41ac2cb7 | 16 | * @param bit1 a digital output to control the multiplexer. |
| wengefa1 | 0:c88f41ac2cb7 | 17 | * @param bit2 a digital output to control the multiplexer. |
| wengefa1 | 0:c88f41ac2cb7 | 18 | * @param number the number of the sensor. This value must be between 0 and 5. |
| wengefa1 | 0:c88f41ac2cb7 | 19 | */ |
| wengefa1 | 0:c88f41ac2cb7 | 20 | IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) { |
| wengefa1 | 0:c88f41ac2cb7 | 21 | |
| wengefa1 | 0:c88f41ac2cb7 | 22 | this->number = number; |
| wengefa1 | 0:c88f41ac2cb7 | 23 | } |
| wengefa1 | 0:c88f41ac2cb7 | 24 | |
| wengefa1 | 0:c88f41ac2cb7 | 25 | /** |
| wengefa1 | 0:c88f41ac2cb7 | 26 | * Deletes this IRSensor object and releases all allocated resources. |
| wengefa1 | 0:c88f41ac2cb7 | 27 | */ |
| wengefa1 | 0:c88f41ac2cb7 | 28 | IRSensor::~IRSensor() {} |
| wengefa1 | 0:c88f41ac2cb7 | 29 | |
| wengefa1 | 0:c88f41ac2cb7 | 30 | /** |
| wengefa1 | 0:c88f41ac2cb7 | 31 | * This method reads from the distance sensor. |
| wengefa1 | 0:c88f41ac2cb7 | 32 | * @return a distance value, given in [m]. |
| wengefa1 | 0:c88f41ac2cb7 | 33 | */ |
| wengefa1 | 0:c88f41ac2cb7 | 34 | float IRSensor::read() { |
| wengefa1 | 0:c88f41ac2cb7 | 35 | |
| wengefa1 | 0:c88f41ac2cb7 | 36 | // bitte implementieren! |
| wengefa1 | 0:c88f41ac2cb7 | 37 | bit0 = (number >> 0)&1; |
| wengefa1 | 0:c88f41ac2cb7 | 38 | bit1 = (number >> 1)&1; |
| wengefa1 | 0:c88f41ac2cb7 | 39 | bit2 = (number >> 2)&1; |
| wengefa1 | 0:c88f41ac2cb7 | 40 | |
| wengefa1 | 2:f381fc3a8eaf | 41 | float dist = -0.58f*sqrt(distance)+0.58f; |
| wengefa1 | 0:c88f41ac2cb7 | 42 | |
| wengefa1 | 0:c88f41ac2cb7 | 43 | return dist; |
| wengefa1 | 0:c88f41ac2cb7 | 44 | |
| wengefa1 | 0:c88f41ac2cb7 | 45 | |
| wengefa1 | 0:c88f41ac2cb7 | 46 | |
| wengefa1 | 0:c88f41ac2cb7 | 47 | } |
| wengefa1 | 0:c88f41ac2cb7 | 48 |