Alexander Lüthard
/
Micromouse
Alle Prinf's auskommentiert
Fork of Micromouse by
Diff: IRSensor.cpp
- Revision:
- 3:076dd7ec7eb4
- Parent:
- 1:2b5f79285a3e
- Child:
- 10:84534846e1f1
--- a/IRSensor.cpp Thu Apr 19 11:26:51 2018 +0000 +++ b/IRSensor.cpp Fri Apr 20 13:37:21 2018 +0000 @@ -18,7 +18,8 @@ float a6 = 445.1f; - float d2 = a1*pow(distance,5) + a2*pow(distance,4) + a3*pow(distance,3) + a4*pow(distance,2) + a5*distance + a6; + //float d2 = a1*pow(distance,5) + a2*pow(distance,4) + a3*pow(distance,3) + a4*pow(distance,2) + a5*distance + a6; + float d2 = 10.2817f*(1/(pow(distance,1.212121f))); return d2; @@ -33,21 +34,24 @@ float b5 = -2519.0f; float b6 = 310.8f; - float d1 = b1*pow(distance,5) + b2*pow(distance,4) + b3*pow(distance,3) + b4*pow(distance,2) + b5*distance + b6; + //float d1 = b1*pow(distance,5) + b2*pow(distance,4) + b3*pow(distance,3) + b4*pow(distance,2) + b5*distance + b6; + float d1 = 11.6037f*(1/(pow(distance,1.111111f))); return d1; } float IRSensor::readC(){ //Vorne B4 - float c1 = -2.681f*pow(10.0f,4.0f); - float c2 = 6.007f*pow(10.0f,4.0f); - float c3 = -5.32f*pow(10.0f,4.0f); - float c4 = 2.377f*pow(10.0f,4.0f); - float c5 = -5686.0f; - float c6 = 697.8f; + double c1 = -2.352f*pow(10.0f,4.0f); + double c2 = 5.44f*pow(10.0f,4.0f); + double c3 = -4.955f*pow(10.0f,4.0f); + double c4 = 2.268f*pow(10.0f,4.0f); + double c5 = -5538.0f; + double c6 = 690.5f; - float d4 = c1*pow(distance,5) + c2*pow(distance,4) + c3*pow(distance,3) + c4*pow(distance,2) + c5*distance + c6; + //double d4 = c1*pow(distance,5) + c2*pow(distance,4) + c3*pow(distance,3) + c4*pow(distance,2) + c5*distance + c6; + //float d4 = distance; + float d4 = 28.053f*(1.0f/distance); return d4; }