IRsensor.cpp

00001 #include "IRsensor.h"
00002 
00003 IRsensor::IRsensor(PinName pin):
00004     a_in(pin)
00005 {
00006     thread_get_distance.start(callback(this, &IRsensor::threadloop_get_distance));
00007 }
00008 
00009 void IRsensor::threadloop_get_distance()
00010 {
00011     while(true){
00012         compute_distance();
00013     }
00014 }
00015 
00016 void IRsensor::compute_distance(){
00017     getInputvoltage();
00018     changeVtoD();
00019 }
00020 
00021 void IRsensor::getInputvoltage(){
00022     voltage = a_in.read()*3.3f;
00023 }
00024 
00025 void IRsensor::changeVtoD()
00026 {
00027     if (voltage > 2.285f) {
00028         originaldistance = 0.0f;
00029     } else if (voltage > 1.645f) {
00030         originaldistance = -7.8125f * voltage + 27.8515f;
00031     } else if (voltage > 1.305f) {
00032         originaldistance = -14.7058f * voltage + 39.1911f;
00033     } else if (voltage > 1.08f) {
00034         originaldistance = -22.222f * voltage + 49.0f;
00035     } else if (voltage > 0.928f) {
00036         originaldistance = -32.89473f * voltage + 60.526f;
00037     } else if (voltage > 0.835f) {
00038         originaldistance = -53.7634f * voltage + 79.89247f;
00039     } else if (voltage > 0.737f) {
00040         originaldistance = -51.02040f * voltage + 77.60204f;
00041     } else if (voltage > 0.673f) {
00042         originaldistance = -78.12500f * voltage + 97.57812f;
00043     } else if (voltage > 0.608f) {
00044         originaldistance = -76.92307f * voltage + 96.76923f;
00045     } else if (voltage > 0.562f) {
00046         originaldistance = -108.6956f * voltage + 116.0869f;
00047     } else if (voltage > 0.515f) {
00048         originaldistance = -106.3829f * voltage + 114.7872f;
00049     } else if (voltage > 0.474f) {
00050         originaldistance = -121.9512f * voltage + 122.8048f;
00051     } else if (voltage > 0.447f) {
00052         originaldistance = -185.1851f * voltage + 152.7777f;
00053     } else if (voltage > 0.432f) {
00054         originaldistance = -333.333f * voltage + 219.0f;
00055     } else {
00056         originaldistance = 9999.9f;
00057     }
00058 }
00059 
00060 void IRsensor::startAveraging(uint8_t averaging_range)
00061 {
00062     bufferSize = averaging_range;
00063     data = new float[bufferSize];
00064     thread_averaging_distance.start(callback(this, &IRsensor::threadloop_averaging_distance));
00065 }
00066 void IRsensor::threadloop_averaging_distance()
00067 {
00068     while(true){
00069         computeaverage();
00070     }    
00071 }
00072 void IRsensor::computeaverage()
00073 {
00074     bufferpoint++;
00075     data[bufferpoint % bufferSize] = originaldistance;
00076     distance_sum = 0;
00077     for(int i = 0;i<bufferSize;i++)
00078         distance_sum += data[i];
00079     distance_average = distance_sum / bufferSize;
00080 }
00081 float IRsensor::getDistance()
00082 {
00083     return originaldistance;   
00084 }
00085 float IRsensor::get_Averagingdistance()
00086 {
00087     return distance_average;    
00088 }
00089 
00090 float IRsensor::getVoltage()
00091 {
00092     return voltage;    
00093 }