GP2xx - libary to return a range for sharp IR rangefinder…

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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

GP2xx.cpp@0:28b9e26e75ac, 2010-11-11 (annotated)

Committer:: littlexc
Date:: Thu Nov 11 16:01:21 2010 +0000
Revision:: 0:28b9e26e75ac
Child:: 1:e3ea40a41d27

Who changed what in which revision?

User	Revision	Line number	New contents of line
littlexc	0:28b9e26e75ac	1	/*Libary for GP2D120
littlexc	0:28b9e26e75ac	2	*
littlexc	0:28b9e26e75ac	3	*
littlexc	0:28b9e26e75ac	4	* by Christopher Hasler.
littlexc	0:28b9e26e75ac	5	*
littlexc	0:28b9e26e75ac	6	*
littlexc	0:28b9e26e75ac	7	* Permission is hereby granted, free of charge, to any person obtaining a copy
littlexc	0:28b9e26e75ac	8	* of this software and associated documentation files (the "Software"), to deal
littlexc	0:28b9e26e75ac	9	* in the Software without restriction, including without limitation the rights
littlexc	0:28b9e26e75ac	10	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
littlexc	0:28b9e26e75ac	11	* copies of the Software, and to permit persons to whom the Software is
littlexc	0:28b9e26e75ac	12	* furnished to do so, subject to the following conditions:
littlexc	0:28b9e26e75ac	13	*
littlexc	0:28b9e26e75ac	14	* The above copyright notice and this permission notice shall be included in
littlexc	0:28b9e26e75ac	15	* all copies or substantial portions of the Software.
littlexc	0:28b9e26e75ac	16	*
littlexc	0:28b9e26e75ac	17	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
littlexc	0:28b9e26e75ac	18	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
littlexc	0:28b9e26e75ac	19	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
littlexc	0:28b9e26e75ac	20	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
littlexc	0:28b9e26e75ac	21	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
littlexc	0:28b9e26e75ac	22	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
littlexc	0:28b9e26e75ac	23	* THE SOFTWARE.
littlexc	0:28b9e26e75ac	24	*/
littlexc	0:28b9e26e75ac	25
littlexc	0:28b9e26e75ac	26
littlexc	0:28b9e26e75ac	27	#include "mbed.h"
littlexc	0:28b9e26e75ac	28	#include "GP2xx.h"
littlexc	0:28b9e26e75ac	29	/*
littlexc	0:28b9e26e75ac	30	* @param ain analog in from sensor
littlexc	0:28b9e26e75ac	31	*/
littlexc	0:28b9e26e75ac	32	IRRangeFinder::IRRangeFinder (PinName pin, int type): _pin(pin) {
littlexc	0:28b9e26e75ac	33	sensor=type;
littlexc	0:28b9e26e75ac	34	};
littlexc	0:28b9e26e75ac	35	// returns value for range, greater than 4, 5, 6, 7, 8, 10, 12, 14, 20, 25, 30 cm
littlexc	0:28b9e26e75ac	36	int IRRangeFinder::read(void) {
littlexc	0:28b9e26e75ac	37	float temp = _pin.read();
littlexc	0:28b9e26e75ac	38	if (sensor==1) { //GP2D120
littlexc	0:28b9e26e75ac	39	if ( temp<0.1212) {
littlexc	0:28b9e26e75ac	40	return 30;
littlexc	0:28b9e26e75ac	41	} else if (temp<0.1515) {
littlexc	0:28b9e26e75ac	42	return 25;
littlexc	0:28b9e26e75ac	43	} else if (temp<0.2121) {
littlexc	0:28b9e26e75ac	44	return 20;
littlexc	0:28b9e26e75ac	45	} else if (temp<0.2727) {
littlexc	0:28b9e26e75ac	46	return 14;
littlexc	0:28b9e26e75ac	47	} else if (temp<0.303) {
littlexc	0:28b9e26e75ac	48	return 12;
littlexc	0:28b9e26e75ac	49	} else if (temp<0.3939) {
littlexc	0:28b9e26e75ac	50	return 10;
littlexc	0:28b9e26e75ac	51	} else if (temp<0.4848) {
littlexc	0:28b9e26e75ac	52	return 8;
littlexc	0:28b9e26e75ac	53	} else if (temp<0.5454) {
littlexc	0:28b9e26e75ac	54	return 7;
littlexc	0:28b9e26e75ac	55	} else if (temp<0.606) {
littlexc	0:28b9e26e75ac	56	return 6;
littlexc	0:28b9e26e75ac	57	} else if (temp<0.6969) {
littlexc	0:28b9e26e75ac	58	return 5;
littlexc	0:28b9e26e75ac	59	} else {
littlexc	0:28b9e26e75ac	60	return 4;
littlexc	0:28b9e26e75ac	61	}
littlexc	0:28b9e26e75ac	62	} else if (sensor == 2) { //GP2D12
littlexc	0:28b9e26e75ac	63	if ( temp<0.136) {
littlexc	0:28b9e26e75ac	64	return 80;
littlexc	0:28b9e26e75ac	65	} else if ( temp<0.145) {
littlexc	0:28b9e26e75ac	66	return 75;
littlexc	0:28b9e26e75ac	67	} else if ( temp<0.15) {
littlexc	0:28b9e26e75ac	68	return 70;
littlexc	0:28b9e26e75ac	69	} else if ( temp<0.17) {
littlexc	0:28b9e26e75ac	70	return 65;
littlexc	0:28b9e26e75ac	71	} else if ( temp<0.18) {
littlexc	0:28b9e26e75ac	72	return 60;
littlexc	0:28b9e26e75ac	73	} else if ( temp<0.19) {
littlexc	0:28b9e26e75ac	74	return 55;
littlexc	0:28b9e26e75ac	75	} else if ( temp<0.21) {
littlexc	0:28b9e26e75ac	76	return 50;
littlexc	0:28b9e26e75ac	77	} else if ( temp<0.23) {
littlexc	0:28b9e26e75ac	78	return 45;
littlexc	0:28b9e26e75ac	79	} else if (temp<0.26) {
littlexc	0:28b9e26e75ac	80	return 40;
littlexc	0:28b9e26e75ac	81	} else if (temp<0.30) {
littlexc	0:28b9e26e75ac	82	return 30;
littlexc	0:28b9e26e75ac	83	} else if (temp<0.34) {
littlexc	0:28b9e26e75ac	84	return 28;
littlexc	0:28b9e26e75ac	85	} else if (temp<0.42) {
littlexc	0:28b9e26e75ac	86	return 20;
littlexc	0:28b9e26e75ac	87	} else if (temp<0.46) {
littlexc	0:28b9e26e75ac	88	return 18;
littlexc	0:28b9e26e75ac	89	} else if (temp<0.50) {
littlexc	0:28b9e26e75ac	90	return 16;
littlexc	0:28b9e26e75ac	91	} else if (temp<0.56) {
littlexc	0:28b9e26e75ac	92	return 14;
littlexc	0:28b9e26e75ac	93	} else if (temp<0.64) {
littlexc	0:28b9e26e75ac	94	return 12;
littlexc	0:28b9e26e75ac	95	} else if (temp<0.74) {
littlexc	0:28b9e26e75ac	96	return 10;
littlexc	0:28b9e26e75ac	97	} else {
littlexc	0:28b9e26e75ac	98	return 9;
littlexc	0:28b9e26e75ac	99	}
littlexc	0:28b9e26e75ac	100	} else
littlexc	0:28b9e26e75ac	101	return -1;
littlexc	0:28b9e26e75ac	102	}
littlexc	0:28b9e26e75ac	103	//returns value for floating point given by analog in
littlexc	0:28b9e26e75ac	104	float IRRangeFinder::read_f(void) {
littlexc	0:28b9e26e75ac	105	return _pin.read();
littlexc	0:28b9e26e75ac	106	}
littlexc	0:28b9e26e75ac	107
littlexc	0:28b9e26e75ac	108	//returns value for voltage, given by (1/3.3)*(read_f)
littlexc	0:28b9e26e75ac	109	float IRRangeFinder::read_v(void) {
littlexc	0:28b9e26e75ac	110	float temp = _pin.read();
littlexc	0:28b9e26e75ac	111	temp = temp*0.303;
littlexc	0:28b9e26e75ac	112	return temp;
littlexc	0:28b9e26e75ac	113	}
littlexc	0:28b9e26e75ac	114
littlexc	0:28b9e26e75ac	115
littlexc	0:28b9e26e75ac	116
littlexc	0:28b9e26e75ac	117
littlexc	0:28b9e26e75ac	118
littlexc	0:28b9e26e75ac	119
littlexc	0:28b9e26e75ac	120
littlexc	0:28b9e26e75ac	121
littlexc	0:28b9e26e75ac	122
littlexc	0:28b9e26e75ac	123
littlexc	0:28b9e26e75ac	124
littlexc	0:28b9e26e75ac	125
littlexc	0:28b9e26e75ac	126
littlexc	0:28b9e26e75ac	127	/*
littlexc	0:28b9e26e75ac	128	Serial pc(USBTX, USBRX); // tx, rx
littlexc	0:28b9e26e75ac	129	AnalogIn IRRF(p18);
littlexc	0:28b9e26e75ac	130
littlexc	0:28b9e26e75ac	131	int main() {
littlexc	0:28b9e26e75ac	132	pc.printf("Hello World!");
littlexc	0:28b9e26e75ac	133	while (1) {
littlexc	0:28b9e26e75ac	134
littlexc	0:28b9e26e75ac	135	pc.printf("%x \n", IRRF.read_u16());
littlexc	0:28b9e26e75ac	136	wait(0.1);
littlexc	0:28b9e26e75ac	137
littlexc	0:28b9e26e75ac	138	}
littlexc	0:28b9e26e75ac	139	}*/

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Type:	Library
Created:	11 Nov 2010
Imports:	119
Forks:	0
Commits:	2
Dependents:	3
Dependencies:	0
Followers:	4

GP2xx.cpp@0:28b9e26e75ac, 2010-11-11 (annotated)

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