Diff: IRSensor.cpp

Revision:

0:7ee4c6416e08

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Mon Feb 24 16:05:50 2020 +0000
@@ -0,0 +1,75 @@
+/*
+ * IRSensor.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "IRSensor.h"
+
+using namespace std;
+
+/**
+ * Creates and initialises the driver to read the distance sensors.
+ * @param distance the analog input to read a distance value from.
+ * @param bit0 a digital output to control the multiplexer.
+ * @param bit1 a digital output to control the multiplexer.
+ * @param bit2 a digital output to control the multiplexer.
+ * @param number the number of the sensor. This value must be between 0 and 5.
+ */
+IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
+    
+    this->number = number;
+}
+
+/**
+ * Deletes this IRSensor object and releases all allocated resources.
+ */
+IRSensor::~IRSensor() {}
+
+/**
+ * This method reads from the distance sensor.
+ * @return a distance value, given in [m].
+ */
+float IRSensor::read() {
+
+    // bitte implementieren!
+
+    float d;
+    switch(number) {
+        case 0:
+            bit0 = 0; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
+            bit1 = 0;
+            bit2 = 0;
+            break;
+        case 1:
+            bit0 = 1; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
+            bit1 = 0;
+            bit2 = 0;
+            break;
+        case 2:
+            bit0 = 0; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
+            bit1 = 1;
+            bit2 = 0;
+            break;
+        case 3:
+            bit0 = 1; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
+            bit1 = 1;
+            bit2 = 0;
+            break;
+        case 4:
+            bit0 = 0; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
+            bit1 = 0;
+            bit2 = 1;
+            break;
+        case 5:
+            bit0 = 1; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
+            bit1 = 0;
+            bit2 = 1;
+            break;
+            
+            }
+            
+    d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]
+return d;
+}
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