zhouhang shao / Mbed 2 deprecated test

test

Dependencies:   RemoteIR mbed

IRSensor.h@0:3c59bc5c9388, 2017-02-26 (annotated)

Committer:
szh66
Date:
Sun Feb 26 20:29:20 2017 +0000
Revision:
0:3c59bc5c9388
Child:
1:11970e541ecf
start code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
szh66 0:3c59bc5c9388 1 #ifndef IR_H
szh66 0:3c59bc5c9388 2 #define IR_H
szh66 0:3c59bc5c9388 3
szh66 0:3c59bc5c9388 4 #include "mbed.h"
szh66 0:3c59bc5c9388 5
szh66 0:3c59bc5c9388 6 extern Serial pc;
szh66 0:3c59bc5c9388 7
szh66 0:3c59bc5c9388 8 class IRSensor {
szh66 0:3c59bc5c9388 9 public:
szh66 0:3c59bc5c9388 10 DigitalOut _enable;
szh66 0:3c59bc5c9388 11 AnalogIn _input;
szh66 0:3c59bc5c9388 12 volatile float value;
szh66 0:3c59bc5c9388 13 float COEFF_1;
szh66 0:3c59bc5c9388 14 float COEFF_2;
szh66 0:3c59bc5c9388 15 float COEFF_3;
szh66 0:3c59bc5c9388 16 float COEFF_4;
szh66 0:3c59bc5c9388 17 float COEFF_5;
szh66 0:3c59bc5c9388 18 float COEFF_6;
szh66 0:3c59bc5c9388 19 float COEFF_7;
szh66 0:3c59bc5c9388 20
szh66 0:3c59bc5c9388 21 float last_read[5];
szh66 0:3c59bc5c9388 22
szh66 0:3c59bc5c9388 23 IRSensor(PinName enable, PinName input, float c1 = 0.217722944294793f, float c2 = -5.50965509541424f,
szh66 0:3c59bc5c9388 24 float c3 = 55.0111470003071f, float c4 = -229.934241342364f, float c5 = 506.986371752309f,
szh66 0:3c59bc5c9388 25 float c6 = -502.862134567129f, float c7 = 177.712915019135f) : _enable(enable), _input(input),
szh66 0:3c59bc5c9388 26 COEFF_1(c1), COEFF_2(c2), COEFF_3(c3), COEFF_4(c4), COEFF_5(c5), COEFF_6(c6), COEFF_7(c7) {
szh66 0:3c59bc5c9388 27 }
szh66 0:3c59bc5c9388 28
szh66 0:3c59bc5c9388 29 //Get the value in encoder units, samples?...
szh66 0:3c59bc5c9388 30 float readIR(){
szh66 0:3c59bc5c9388 31 float sum = 0;
szh66 0:3c59bc5c9388 32
szh66 0:3c59bc5c9388 33 //Each duration takes 100us, 5 times = 0.5ms
szh66 0:3c59bc5c9388 34 for (int i = 0; i < 5; i++)
szh66 0:3c59bc5c9388 35 {
szh66 0:3c59bc5c9388 36 //Turn on IR LED tx
szh66 0:3c59bc5c9388 37 _enable = 1;
szh66 0:3c59bc5c9388 38
szh66 0:3c59bc5c9388 39 //Wait for capacitor to fire, 10us
szh66 0:3c59bc5c9388 40 wait_us(6);
szh66 0:3c59bc5c9388 41
szh66 0:3c59bc5c9388 42 last_read[i] = _input.read();
szh66 0:3c59bc5c9388 43 if (i){
szh66 0:3c59bc5c9388 44 sum += last_read[i];
szh66 0:3c59bc5c9388 45 }
szh66 0:3c59bc5c9388 46 //Wait 5us for turning off IR LED tx
szh66 0:3c59bc5c9388 47 _enable = 0;
szh66 0:3c59bc5c9388 48
szh66 0:3c59bc5c9388 49 //Wait 85us for turning on IR LED tx
szh66 0:3c59bc5c9388 50 wait_us(75);
szh66 0:3c59bc5c9388 51 }
szh66 0:3c59bc5c9388 52
szh66 0:3c59bc5c9388 53 sum /= 4;
szh66 0:3c59bc5c9388 54 value = sum;
szh66 0:3c59bc5c9388 55
szh66 0:3c59bc5c9388 56 float square = sum * sum;
szh66 0:3c59bc5c9388 57 float cube = square * sum;
szh66 0:3c59bc5c9388 58 float _value = 0;
szh66 0:3c59bc5c9388 59 _value += COEFF_1 / cube;
szh66 0:3c59bc5c9388 60 _value += COEFF_2 / square;
szh66 0:3c59bc5c9388 61 _value += COEFF_3 / sum;
szh66 0:3c59bc5c9388 62 _value += COEFF_4;
szh66 0:3c59bc5c9388 63 _value += COEFF_5 * sum;
szh66 0:3c59bc5c9388 64 _value += COEFF_6 * square;
szh66 0:3c59bc5c9388 65 _value += COEFF_7 * square * sum;
szh66 0:3c59bc5c9388 66
szh66 0:3c59bc5c9388 67 return _value;
szh66 0:3c59bc5c9388 68 }
szh66 0:3c59bc5c9388 69
szh66 0:3c59bc5c9388 70 //Get the number of cells away wall is
szh66 0:3c59bc5c9388 71 float cell_dist(){
szh66 0:3c59bc5c9388 72 return readIR() / 18;
szh66 0:3c59bc5c9388 73 }
szh66 0:3c59bc5c9388 74
szh66 0:3c59bc5c9388 75 //Shorthand for read()
szh66 0:3c59bc5c9388 76 operator float() {
szh66 0:3c59bc5c9388 77 return readIR();
szh66 0:3c59bc5c9388 78 }
szh66 0:3c59bc5c9388 79
szh66 0:3c59bc5c9388 80 };
szh66 0:3c59bc5c9388 81
szh66 0:3c59bc5c9388 82 extern IRSensor rightIR;
szh66 0:3c59bc5c9388 83 extern IRSensor rightDiagonalIR;
szh66 0:3c59bc5c9388 84 extern IRSensor rightFrontIR;
szh66 0:3c59bc5c9388 85 extern IRSensor leftFrontIR;
szh66 0:3c59bc5c9388 86 extern IRSensor leftDiagonalIR;
szh66 0:3c59bc5c9388 87 extern IRSensor leftIR;
szh66 0:3c59bc5c9388 88
szh66 0:3c59bc5c9388 89
szh66 0:3c59bc5c9388 90 #endif