File content as of revision 19:e2cb5b8a7a29:

#include <cmath>
#include "IRSensor.h"

using namespace std;

IRSensor::IRSensor(AnalogIn& distance)   :
                    distance(distance){}

IRSensor::~IRSensor() {}

float IRSensor::readL() {
    //Links B2
    float a1 = -4.474f*pow(10.0f,4.0f);
    float a2 = 8.415f*pow(10.0f,4.0f);
    float a3 = -6.279f*pow(10.0f,4.0f);
    float a4 = 2.36f*pow(10.0f,4.0f);
    float a5 = -4670.0f;
    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 = 10.2817f*(1/(pow(distance,1.212121f)));
    
    return d2;
    
}

float IRSensor::readR(){
    //Rechts B1
    float b1 = -1.079f*pow(10.0f,4.0f);
    float b2 = 2.404f*pow(10.0f,4.0f);
    float b3 = -2.179f*pow(10.0f,4.0f);
    float b4 = 1.012f*pow(10.0f,4.0f);
    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 = 11.6037f*(1/(pow(distance,1.111111f)));
    
    return d1;
}

float IRSensor::readC(){
    //Vorne B4
    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;
    
    //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;
    }

//float IRSensor::readB(){}