Revision 0:eb491ad3a263, committed 2021-06-29

Comitter:

noamnahum

Date:

Tue Jun 29 17:28:29 2021 +0000

Commit message:

Formula Sensor read library;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor.cpp	Tue Jun 29 17:28:29 2021 +0000
@@ -0,0 +1,98 @@
+#include "mbed.h"
+#include "Sensor.h"
+ 
+Sensor::Sensor(float* Sensor_1, float* Sensor_2, float* lastscope, float* bias, float weight){
+    _Sensor_1 = Sensor_1; 
+    _Sensor_2 = Sensor_2;
+    _bias = bias;
+    _Sensor_1_max = 0.337;
+    _Sensor_2_max = 0.72;
+    _Sensor_1_min = 0.245;
+    _Sensor_2_min = 0.619;
+    _Error = 0;
+    Sensor_sub = -1;
+    Sensor_sum = -1;
+    
+    _lastscope = lastscope;
+    _weight = weight;
+    
+}
+
+    
+int Sensor::ErrorCheck() { // if there is error for more than 100ms Sensor_Value_1 is -1
+    Sensor_sum = *_Sensor_1 + *_Sensor_2;
+    Sensor_sub = abs(Sensor_sum-1);
+    if (Sensor_sub<0.1){
+        _Error = 0;
+        timer.stop();
+        timer.reset();
+        }
+    if (Sensor_sub>0.1){
+        if (_Error == 0){
+            //_Error = 1;
+            timer.start();
+            }
+        if (timer.read() > 0.1){
+            timer.stop();
+            _Error = 1;
+            }  
+        }
+        return _Error;
+    }
+    
+void Sensor::ApplyFilter(float newscope)
+{
+    newscope = (_weight*newscope) + ((1-_weight)*(*_lastscope));
+    *_lastscope = *_bias + newscope; 
+}
+
+void Sensor::ChangeWeight(float new_weight)
+{
+    _weight=  new_weight;
+} 
+float Sensor::Sensor_Value_1() {
+    /*if (*_Sensor_1 > _Sensor_1_max){
+        _Sensor_1_max = *_Sensor_1;
+        }
+    if (*_Sensor_1 < _Sensor_1_min){
+        _Sensor_1_min = *_Sensor_1;
+        }*/
+    _Sensor_Value_1 = ((*_Sensor_1 - _Sensor_1_min)*(255 - 0))/((_Sensor_1_max - _Sensor_1_min) + 0 );
+    if (_Sensor_Value_1<0){
+        return 0;
+        }
+    if (_Sensor_Value_1>255){
+        return 255;
+        }
+    else{
+        return _Sensor_Value_1;
+        }
+    }
+float Sensor::Sensor_Value_2() {
+    /*if (*_Sensor_2 > _Sensor_2_max){
+        _Sensor_2_max = *_Sensor_2;
+        }
+    if (*_Sensor_2 < _Sensor_2_min){
+        _Sensor_2_min = *_Sensor_2;
+        }*/
+    _Sensor_Value_2 = ((*_Sensor_2 - _Sensor_2_min)*(255 - 0))/((_Sensor_2_max - _Sensor_2_min) + 0 );
+    if (_Sensor_Value_2<0){
+        return 0;
+        }
+    if (_Sensor_Value_2>255){
+        return 255;
+        }
+    else{
+        return _Sensor_Value_2;
+        }
+    } 
+float Sensor::Sensor_Sum(){
+    return Sensor_sum;
+    }
+float Sensor::Sensor_Sub(){
+    return Sensor_sub;
+    }
+float Sensor::Sensor_timer(){
+    return timer.read();
+    }
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor.h	Tue Jun 29 17:28:29 2021 +0000
@@ -0,0 +1,51 @@
+#ifndef SENSOR_H
+#define SENSOR_H
+#include "mbed.h"
+/* 
+    Noam Nahum and Dror Balbul 05/10/2020
+     Sensor reading and filtering for formula student vehicle
+    The library takes 2 diffrential sensor and calculate to the diffrence between them.
+    this library is for the FSAE regulation For reading Pedal Sensors and Thorttle Sensors.
+    
+    
+    
+    Note: Sensor objects use given pointers, ie Sensor_1 
+            Sensor_2, lastscope. When reading/ modifying
+            these vars make sure we don't have possible read/write 
+            conflicts if the interrupt fires. */
+            
+    
+class Sensor {
+    public:
+        Sensor(float* Sensor_1, float* Sensor_2, float* lastscope, float* bias, float weight);  // Sensor_1, (Analogin value of sensor 1)
+        float Sensor_Value_1(); // Sensor_1 Value between 0-255
+        float Sensor_Value_2(); // Sensor_1 Value between 0-255
+        //int Get_Error();
+        void ApplyFilter(float newscope);
+        void ChangeWeight(float new_weight);
+        int ErrorCheck();
+        float Sensor_Sum();
+        float Sensor_Sub();
+        float Sensor_timer();
+     
+    private:
+        Timer timer;
+        int _Error;
+        float* _Sensor_1;
+        float* _Sensor_2;
+        float _Sensor_Value_1;
+        float _Sensor_Value_2;
+        float Sensor_sum, Sensor_sub;
+        float _weight;
+        float* _lastscope;
+        float* _bias;
+        float _Sensor_1_max;
+        float _Sensor_1_min;
+        float _Sensor_2_max;
+        float _Sensor_2_min;
+        
+};
+    
+
+#endif     
+     
\ No newline at end of file