Marco Oehler
/
Lab2
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IRSensor.cpp@0:1a972ed770da, 2020-03-09 (annotated)
- Committer:
- oehlemar
- Date:
- Mon Mar 09 16:23:04 2020 +0000
- Revision:
- 0:1a972ed770da
LAB2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| oehlemar | 0:1a972ed770da | 1 | /* |
| oehlemar | 0:1a972ed770da | 2 | * IRSensor.h |
| oehlemar | 0:1a972ed770da | 3 | * Copyright (c) 2020, ZHAW |
| oehlemar | 0:1a972ed770da | 4 | * All rights reserved. |
| oehlemar | 0:1a972ed770da | 5 | */ |
| oehlemar | 0:1a972ed770da | 6 | |
| oehlemar | 0:1a972ed770da | 7 | #include <cmath> |
| oehlemar | 0:1a972ed770da | 8 | #include "IRSensor.h" |
| oehlemar | 0:1a972ed770da | 9 | |
| oehlemar | 0:1a972ed770da | 10 | using namespace std; |
| oehlemar | 0:1a972ed770da | 11 | |
| oehlemar | 0:1a972ed770da | 12 | /** |
| oehlemar | 0:1a972ed770da | 13 | * Creates and initialises the driver to read the distance sensors. |
| oehlemar | 0:1a972ed770da | 14 | * @param distance the analog input to read a distance value from. |
| oehlemar | 0:1a972ed770da | 15 | * @param bit0 a digital output to control the multiplexer. |
| oehlemar | 0:1a972ed770da | 16 | * @param bit1 a digital output to control the multiplexer. |
| oehlemar | 0:1a972ed770da | 17 | * @param bit2 a digital output to control the multiplexer. |
| oehlemar | 0:1a972ed770da | 18 | * @param number the number of the sensor. This value must be between 0 and 5. |
| oehlemar | 0:1a972ed770da | 19 | */ |
| oehlemar | 0:1a972ed770da | 20 | IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) { |
| oehlemar | 0:1a972ed770da | 21 | |
| oehlemar | 0:1a972ed770da | 22 | this->number = number; |
| oehlemar | 0:1a972ed770da | 23 | } |
| oehlemar | 0:1a972ed770da | 24 | |
| oehlemar | 0:1a972ed770da | 25 | /** |
| oehlemar | 0:1a972ed770da | 26 | * Deletes this IRSensor object and releases all allocated resources. |
| oehlemar | 0:1a972ed770da | 27 | */ |
| oehlemar | 0:1a972ed770da | 28 | IRSensor::~IRSensor() {} |
| oehlemar | 0:1a972ed770da | 29 | |
| oehlemar | 0:1a972ed770da | 30 | /** |
| oehlemar | 0:1a972ed770da | 31 | * This method reads from the distance sensor. |
| oehlemar | 0:1a972ed770da | 32 | * @return a distance value, given in [m]. |
| oehlemar | 0:1a972ed770da | 33 | */ |
| oehlemar | 0:1a972ed770da | 34 | float IRSensor::read() { |
| oehlemar | 0:1a972ed770da | 35 | |
| oehlemar | 0:1a972ed770da | 36 | bit0 = (number >> 0) & 1; |
| oehlemar | 0:1a972ed770da | 37 | bit1 = (number >> 1) & 1; |
| oehlemar | 0:1a972ed770da | 38 | bit2 = (number >> 2) & 1; |
| oehlemar | 0:1a972ed770da | 39 | |
| oehlemar | 0:1a972ed770da | 40 | float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m] |
| oehlemar | 0:1a972ed770da | 41 | |
| oehlemar | 0:1a972ed770da | 42 | return d; |
| oehlemar | 0:1a972ed770da | 43 | } |
| oehlemar | 0:1a972ed770da | 44 | |
| oehlemar | 0:1a972ed770da | 45 | /** |
| oehlemar | 0:1a972ed770da | 46 | * The empty operator is a shorthand notation of the <code>read()</code> method. |
| oehlemar | 0:1a972ed770da | 47 | */ |
| oehlemar | 0:1a972ed770da | 48 | IRSensor::operator float() { |
| oehlemar | 0:1a972ed770da | 49 | |
| oehlemar | 0:1a972ed770da | 50 | return read(); |
| oehlemar | 0:1a972ed770da | 51 | } |
| oehlemar | 0:1a972ed770da | 52 |