Diff: IRSensor.cpp

Revision:

0:bb408887ab78

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Fri Mar 09 15:29:36 2018 +0000
@@ -0,0 +1,54 @@
+/*
+ * IRSensor.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "IRSensor.h"
+
+using namespace std;
+
+/**
+ * Creates an IRSensor object.
+ * @param distance an analog input object to read the voltage of the sensor.
+ * @param bit0 a digital output to set the first bit of the multiplexer.
+ * @param bit1 a digital output to set the second bit of the multiplexer.
+ * @param bit2 a digital output to set the third bit of the multiplexer.
+ * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
+ */
+IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
+    
+    // set local references to objects
+    
+    this->number = number;
+}
+
+/**
+ * Deletes the IRSensor object.
+ */
+IRSensor::~IRSensor() {}
+
+/**
+ * Gets the distance measured with the IR sensor in [m].
+ * @return the distance, given in [m].
+ */
+float IRSensor::read() {
+    
+    bit0 = (number >> 0) & 1;
+    bit1 = (number >> 1) & 1;
+    bit2 = (number >> 2) & 1;
+    
+    float d = -0.58f*sqrt(distance)+0.58f;  // calculate the distance in [m]
+    
+    return d;
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+IRSensor::operator float() {
+    
+    return read();
+}
+