libary to return a range for sharp IR rangefinders. values are taken from the datasheet. note this is not accurate, but is good enough for seeing if things work
Dependents: GP2D12rangefinder Initialmbedrobotprogram mbedrobot
Diff: GP2xx.cpp
- Revision:
- 0:28b9e26e75ac
- Child:
- 1:e3ea40a41d27
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GP2xx.cpp Thu Nov 11 16:01:21 2010 +0000 @@ -0,0 +1,139 @@ +/*Libary for GP2D120 +* +* +* by Christopher Hasler. +* +* +* Permission is hereby granted, free of charge, to any person obtaining a copy +* of this software and associated documentation files (the "Software"), to deal +* in the Software without restriction, including without limitation the rights +* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +* copies of the Software, and to permit persons to whom the Software is +* furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in +* all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +* THE SOFTWARE. +*/ + + +#include "mbed.h" +#include "GP2xx.h" + /* + * @param ain analog in from sensor + */ +IRRangeFinder::IRRangeFinder (PinName pin, int type): _pin(pin) { + sensor=type; +}; +// returns value for range, greater than 4, 5, 6, 7, 8, 10, 12, 14, 20, 25, 30 cm +int IRRangeFinder::read(void) { + float temp = _pin.read(); + if (sensor==1) { //GP2D120 + if ( temp<0.1212) { + return 30; + } else if (temp<0.1515) { + return 25; + } else if (temp<0.2121) { + return 20; + } else if (temp<0.2727) { + return 14; + } else if (temp<0.303) { + return 12; + } else if (temp<0.3939) { + return 10; + } else if (temp<0.4848) { + return 8; + } else if (temp<0.5454) { + return 7; + } else if (temp<0.606) { + return 6; + } else if (temp<0.6969) { + return 5; + } else { + return 4; + } + } else if (sensor == 2) { //GP2D12 + if ( temp<0.136) { + return 80; + } else if ( temp<0.145) { + return 75; + } else if ( temp<0.15) { + return 70; + } else if ( temp<0.17) { + return 65; + } else if ( temp<0.18) { + return 60; + } else if ( temp<0.19) { + return 55; + } else if ( temp<0.21) { + return 50; + } else if ( temp<0.23) { + return 45; + } else if (temp<0.26) { + return 40; + } else if (temp<0.30) { + return 30; + } else if (temp<0.34) { + return 28; + } else if (temp<0.42) { + return 20; + } else if (temp<0.46) { + return 18; + } else if (temp<0.50) { + return 16; + } else if (temp<0.56) { + return 14; + } else if (temp<0.64) { + return 12; + } else if (temp<0.74) { + return 10; + } else { + return 9; + } + } else + return -1; +} +//returns value for floating point given by analog in +float IRRangeFinder::read_f(void) { + return _pin.read(); +} + +//returns value for voltage, given by (1/3.3)*(read_f) +float IRRangeFinder::read_v(void) { + float temp = _pin.read(); + temp = temp*0.303; + return temp; +} + + + + + + + + + + + + + +/* +Serial pc(USBTX, USBRX); // tx, rx +AnalogIn IRRF(p18); + +int main() { + pc.printf("Hello World!"); + while (1) { + + pc.printf("%x \n", IRRF.read_u16()); + wait(0.1); + + } +}*/