Revision 10:1f0cf0182067, committed 2013-04-05

Comitter:

twighk

Date:

Fri Apr 05 16:40:52 2013 +0000

Parent:

7:4340355261f9

Parent:

9:960410a01e6b

Child:

11:bbddc908c78c

Commit message:

merge fix;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/CakeSensor/CakeSensor.h	Fri Apr 05 16:40:52 2013 +0000
@@ -0,0 +1,32 @@
+
+// Eurobot13 CakeSensor.h
+
+#include "mbed.h"
+
+class CakeSensor{
+    private:
+    AnalogIn ain;
+    
+    public:
+    CakeSensor(PinName analoginpin) : ain(analoginpin){}
+    
+    float Distance(){return ain;}
+    
+    float Distanceincm(){
+        //float d = 5.5/(Distance()-0.13);
+        float d = 7.53/(Distance()-0.022);
+        d = (d < 6 || d > 30)? -1:d;
+        return d;
+    }
+};
+ /*
+ 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}}
+ Regress[data, {1, x}, x]
+ float d = 5.5/(Distance()-0.13);
+ 
+ 
+ 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}}
+ Regress[data2, {1, x}, x]
+ float d = 7.53/(Distance()-0.022);
+ 
+ */
\ No newline at end of file

--- a/main.cpp	Fri Apr 05 16:37:36 2013 +0000
+++ b/main.cpp	Fri Apr 05 16:40:52 2013 +0000
@@ -1,4 +1,4 @@
-#pragma Otime // Compiler Optimisations
+//#pragma Otime // Compiler Optimisations
 
 // Eurobot13 main.cpp
 
@@ -67,6 +67,7 @@
 #include "Actuators/MainMotors/MainMotor.h"
 #include "Sensors/Encoders/Encoder.h"
 #include "Sensors/Colour/Colour.h"
+#include "Sensors/CakeSensor/CakeSensor.h"
 
 
 
@@ -81,6 +82,7 @@
 void phototransistortest();
 void ledphototransistortest();
 void colourtest();
+void cakesensortest();
 
 int main() {
     
@@ -98,6 +100,18 @@
     //phototransistortest();
     //ledphototransistortest();
     //colourtest(); // Red SnR too low
+    cakesensortest();
+}
+
+void cakesensortest(){
+    wait(1);
+    pc.printf("cakesensortest");
+    
+    CakeSensor cs(p20);
+    while(true){
+        wait(0.1);
+        pc.printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
+        }
 }
 
 void colourtest(){