Marco Oehler / Mbed OS Lab3

ROME2 Lab3

IRSensor.cpp@0:6a4d3264c067, 2020-03-24 (annotated)

Committer:
oehlemar
Date:
Tue Mar 24 08:39:54 2020 +0000
Revision:
0:6a4d3264c067
Lab3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oehlemar 0:6a4d3264c067 1 /*
oehlemar 0:6a4d3264c067 2 * IRSensor.h
oehlemar 0:6a4d3264c067 3 * Copyright (c) 2020, ZHAW
oehlemar 0:6a4d3264c067 4 * All rights reserved.
oehlemar 0:6a4d3264c067 5 */
oehlemar 0:6a4d3264c067 6
oehlemar 0:6a4d3264c067 7 #include <cmath>
oehlemar 0:6a4d3264c067 8 #include "IRSensor.h"
oehlemar 0:6a4d3264c067 9
oehlemar 0:6a4d3264c067 10 using namespace std;
oehlemar 0:6a4d3264c067 11
oehlemar 0:6a4d3264c067 12 /**
oehlemar 0:6a4d3264c067 13 * Creates and initialises the driver to read the distance sensors.
oehlemar 0:6a4d3264c067 14 * @param distance the analog input to read a distance value from.
oehlemar 0:6a4d3264c067 15 * @param bit0 a digital output to control the multiplexer.
oehlemar 0:6a4d3264c067 16 * @param bit1 a digital output to control the multiplexer.
oehlemar 0:6a4d3264c067 17 * @param bit2 a digital output to control the multiplexer.
oehlemar 0:6a4d3264c067 18 * @param number the number of the sensor. This value must be between 0 and 5.
oehlemar 0:6a4d3264c067 19 */
oehlemar 0:6a4d3264c067 20 IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
oehlemar 0:6a4d3264c067 21
oehlemar 0:6a4d3264c067 22 this->number = number;
oehlemar 0:6a4d3264c067 23 }
oehlemar 0:6a4d3264c067 24
oehlemar 0:6a4d3264c067 25 /**
oehlemar 0:6a4d3264c067 26 * Deletes this IRSensor object and releases all allocated resources.
oehlemar 0:6a4d3264c067 27 */
oehlemar 0:6a4d3264c067 28 IRSensor::~IRSensor() {}
oehlemar 0:6a4d3264c067 29
oehlemar 0:6a4d3264c067 30 /**
oehlemar 0:6a4d3264c067 31 * This method reads from the distance sensor.
oehlemar 0:6a4d3264c067 32 * @return a distance value, given in [m].
oehlemar 0:6a4d3264c067 33 */
oehlemar 0:6a4d3264c067 34 float IRSensor::read() {
oehlemar 0:6a4d3264c067 35
oehlemar 0:6a4d3264c067 36 bit0 = (number >> 0) & 1;
oehlemar 0:6a4d3264c067 37 bit1 = (number >> 1) & 1;
oehlemar 0:6a4d3264c067 38 bit2 = (number >> 2) & 1;
oehlemar 0:6a4d3264c067 39
oehlemar 0:6a4d3264c067 40 float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
oehlemar 0:6a4d3264c067 41
oehlemar 0:6a4d3264c067 42 return d;
oehlemar 0:6a4d3264c067 43 }
oehlemar 0:6a4d3264c067 44
oehlemar 0:6a4d3264c067 45 /**
oehlemar 0:6a4d3264c067 46 * The empty operator is a shorthand notation of the <code>read()</code> method.
oehlemar 0:6a4d3264c067 47 */
oehlemar 0:6a4d3264c067 48 IRSensor::operator float() {
oehlemar 0:6a4d3264c067 49
oehlemar 0:6a4d3264c067 50 return read();
oehlemar 0:6a4d3264c067 51 }
oehlemar 0:6a4d3264c067 52