CakeSensor.h

00001 
00002 // Eurobot13 CakeSensor.h
00003 
00004 #include "mbed.h"
00005 
00006 class CakeSensor{
00007     private:
00008     AnalogIn ain;
00009     
00010     public:
00011     CakeSensor(PinName analoginpin) : ain(analoginpin){}
00012     
00013     float Distance(){return ain;}
00014     
00015     float Distanceincm(){
00016         //float d = 5.5/(Distance()-0.13);
00017         float d = 7.53/(Distance()-0.022);
00018         d = (d < 6 || d > 30)? -1:d;
00019         
00020         return d;
00021     }
00022 };
00023  /*
00024  data = {{1/6,0.95},{1/9, 0.86}, {1/12, 0.65}, {1/15, 0.52}, {1/18, 0.44}, {1/21, 0.38}, {1/24, 0.33}, {1/27, 0.30}, {1/30, 0.28}}
00025  Regress[data, {1, x}, x]
00026  float d = 5.5/(Distance()-0.13);
00027  
00028  
00029  data2 = {{1/9, 0.86}, {1/12, 0.65}, {1/15, 0.52}, {1/18, 0.44}, {1/21, 0.38}, {1/24, 0.33}, {1/27, 0.30}, {1/30, 0.28}}
00030  Regress[data2, {1, x}, x]
00031  float d = 7.53/(Distance()-0.022);
00032  
00033  */