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Dependencies:   mbed

Fork of Micromouse_beta by PES2_R2D2.0

IRSensor.cpp

Committer:
ruesipat
Date:
2018-03-07
Revision:
0:a9fe4ef404bf
Child:
1:d9e840c48b1e

File content as of revision 0:a9fe4ef404bf:

#include <cmath>
#include "IRSensor.h"

using namespace std;

IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) :
    distance(distance), bit0(bit0), bit1(bit1), bit2(bit2)
{
    this->number = number;
}

IRSensor::~IRSensor() {}

float IRSensor::read()
{

    bit0 = (number >> 0) & 1;
    bit1 = (number >> 1) & 1;
    bit2 = (number >> 2) & 1;

    float d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

    return d;

}