quadcopter cufe / Mbed 2 deprecated FollowWall2

Go to goal robot with follow wall algo

Dependencies:   mbed

SHARPIR.cpp@0:efef62b55c86, 2014-04-08 (annotated)

Committer:
khaledelmadawi
Date:
Tue Apr 08 13:21:17 2014 +0000
Revision:
0:efef62b55c86
Follow wall

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaledelmadawi 0:efef62b55c86 1 /* mbed SHARPIR distance sensor
khaledelmadawi 0:efef62b55c86 2 * Copyright (c) 2010 Tomas Johansen
khaledelmadawi 0:efef62b55c86 3 *
khaledelmadawi 0:efef62b55c86 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
khaledelmadawi 0:efef62b55c86 5 * of this software and associated documentation files (the "Software"), to deal
khaledelmadawi 0:efef62b55c86 6 * in the Software without restriction, including without limitation the rights
khaledelmadawi 0:efef62b55c86 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
khaledelmadawi 0:efef62b55c86 8 * copies of the Software, and to permit persons to whom the Software is
khaledelmadawi 0:efef62b55c86 9 * furnished to do so, subject to the following conditions:
khaledelmadawi 0:efef62b55c86 10 *
khaledelmadawi 0:efef62b55c86 11 * The above copyright notice and this permission notice shall be included in
khaledelmadawi 0:efef62b55c86 12 * all copies or substantial portions of the Software.
khaledelmadawi 0:efef62b55c86 13 *
khaledelmadawi 0:efef62b55c86 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
khaledelmadawi 0:efef62b55c86 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
khaledelmadawi 0:efef62b55c86 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
khaledelmadawi 0:efef62b55c86 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
khaledelmadawi 0:efef62b55c86 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
khaledelmadawi 0:efef62b55c86 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
khaledelmadawi 0:efef62b55c86 20 * THE SOFTWARE.
khaledelmadawi 0:efef62b55c86 21 */
khaledelmadawi 0:efef62b55c86 22
khaledelmadawi 0:efef62b55c86 23
khaledelmadawi 0:efef62b55c86 24 #include "mbed.h"
khaledelmadawi 0:efef62b55c86 25 #include "SHARPIR.h"
khaledelmadawi 0:efef62b55c86 26
khaledelmadawi 0:efef62b55c86 27
khaledelmadawi 0:efef62b55c86 28 /* This function is currently only working for the Sharp GP2Y0A02YK0F sensor
khaledelmadawi 0:efef62b55c86 29 * which measures from around 20cm to 150cm. To adapt this to other Sharp IR
khaledelmadawi 0:efef62b55c86 30 * sensors, you have to calculate the variables reg and exp.
khaledelmadawi 0:efef62b55c86 31 *
khaledelmadawi 0:efef62b55c86 32 * To quickly calculate reg and exp, use microsoft excel to plot the graph
khaledelmadawi 0:efef62b55c86 33 * provided in the datasheet. You should create a scatterplot (except that
khaledelmadawi 0:efef62b55c86 34 * the y-axis is [cm], and x-axis is [V]).
khaledelmadawi 0:efef62b55c86 35 *
khaledelmadawi 0:efef62b55c86 36 * When you get the values, right click the line in the graph and select
khaledelmadawi 0:efef62b55c86 37 * "Add Trendline". Select "power". Also, in the trendline options, check
khaledelmadawi 0:efef62b55c86 38 * that you want to see the function. It will then be printed in your
khaledelmadawi 0:efef62b55c86 39 * scatterplot.
khaledelmadawi 0:efef62b55c86 40 *
khaledelmadawi 0:efef62b55c86 41 * This is the function: Reg*x^exp.
khaledelmadawi 0:efef62b55c86 42 *
khaledelmadawi 0:efef62b55c86 43 *
khaledelmadawi 0:efef62b55c86 44 * Example:
khaledelmadawi 0:efef62b55c86 45 *
khaledelmadawi 0:efef62b55c86 46 * SHARPIR sensor(p20);
khaledelmadawi 0:efef62b55c86 47 * sensor.calibrate(57.373, 1.3166, 0.45, 2.5);
khaledelmadawi 0:efef62b55c86 48 * while(1){
khaledelmadawi 0:efef62b55c86 49 * serial.printf("cm: %f ", sensor.cm());
khaledelmadawi 0:efef62b55c86 50 * wait_ms(50);
khaledelmadawi 0:efef62b55c86 51 * }
khaledelmadawi 0:efef62b55c86 52 *
khaledelmadawi 0:efef62b55c86 53 * You can also use this method to manually plot values you've measured with
khaledelmadawi 0:efef62b55c86 54 * the "volt" function, which in the end should give a result similar to the
khaledelmadawi 0:efef62b55c86 55 * values provided below.
khaledelmadawi 0:efef62b55c86 56 *
khaledelmadawi 0:efef62b55c86 57 * Feel free to contact me with improvements for the source code, and
khaledelmadawi 0:efef62b55c86 58 * especially for values that would work for other sensors.
khaledelmadawi 0:efef62b55c86 59 */
khaledelmadawi 0:efef62b55c86 60
khaledelmadawi 0:efef62b55c86 61
khaledelmadawi 0:efef62b55c86 62 SHARPIR::SHARPIR(PinName AnalogPort)
khaledelmadawi 0:efef62b55c86 63 : _analogin(AnalogPort) {
khaledelmadawi 0:efef62b55c86 64 higherrange=2.5;
khaledelmadawi 0:efef62b55c86 65 lowerrange=0.45;
khaledelmadawi 0:efef62b55c86 66 reg=57.373; //60.495
khaledelmadawi 0:efef62b55c86 67 exp=-1.3166; //-1.1904
khaledelmadawi 0:efef62b55c86 68 }
khaledelmadawi 0:efef62b55c86 69
khaledelmadawi 0:efef62b55c86 70 void calibrate(double reg, float exp, double lowerrange, double higherrange) { //sets new reg and exp value
khaledelmadawi 0:efef62b55c86 71 }
khaledelmadawi 0:efef62b55c86 72
khaledelmadawi 0:efef62b55c86 73 float SHARPIR::volt() {
khaledelmadawi 0:efef62b55c86 74 return(_analogin.read()*3.3); //analogin function returns a percentage which describes how much of 3.3v it's reading, therefor multiply it by 3,3 to get the correct analogin voltage.
khaledelmadawi 0:efef62b55c86 75 }
khaledelmadawi 0:efef62b55c86 76
khaledelmadawi 0:efef62b55c86 77 float SHARPIR::cm() {
khaledelmadawi 0:efef62b55c86 78 float v;
khaledelmadawi 0:efef62b55c86 79 v=volt();
khaledelmadawi 0:efef62b55c86 80 if (v>higherrange) //sensor is out of higher range
khaledelmadawi 0:efef62b55c86 81 return(reg*pow(v, exp));//0
khaledelmadawi 0:efef62b55c86 82 else if (v<lowerrange)
khaledelmadawi 0:efef62b55c86 83 return(-1.0); //sensor is out of lower range
khaledelmadawi 0:efef62b55c86 84 else
khaledelmadawi 0:efef62b55c86 85 return(reg*pow(v, exp));
khaledelmadawi 0:efef62b55c86 86 }
khaledelmadawi 0:efef62b55c86 87
khaledelmadawi 0:efef62b55c86 88 float SHARPIR::inch() {
khaledelmadawi 0:efef62b55c86 89 float v;
khaledelmadawi 0:efef62b55c86 90 v=volt();
khaledelmadawi 0:efef62b55c86 91 if (v>higherrange) //sensor is out of higher range
khaledelmadawi 0:efef62b55c86 92 return(0);
khaledelmadawi 0:efef62b55c86 93 else if (v<lowerrange)
khaledelmadawi 0:efef62b55c86 94 return(-1.0); //sensor is out of range
khaledelmadawi 0:efef62b55c86 95 else
khaledelmadawi 0:efef62b55c86 96 return(0.393700787*reg*pow(v, exp));
khaledelmadawi 0:efef62b55c86 97 }