zhouhang shao / Mbed 2 deprecated test

test

Dependencies:   RemoteIR mbed

IRSensor.h@6:9f698d1b2996, 2017-05-13 (annotated)

Committer:
kolanery
Date:
Sat May 13 19:42:23 2017 +0000
Revision:
6:9f698d1b2996
Parent:
1:11970e541ecf 
update test case

Who changed what in which revision?

UserRevisionLine numberNew contents of line
szh66 1:11970e541ecf 1 #ifndef IRSENSOR_H
szh66 1:11970e541ecf 2 #define IRSENSOR_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 1:11970e541ecf 33
szh66 0:3c59bc5c9388 34 //Each duration takes 100us, 5 times = 0.5ms
szh66 0:3c59bc5c9388 35 for (int i = 0; i < 5; i++)
szh66 0:3c59bc5c9388 36 {
szh66 0:3c59bc5c9388 37 //Turn on IR LED tx
szh66 0:3c59bc5c9388 38 _enable = 1;
szh66 0:3c59bc5c9388 39
szh66 0:3c59bc5c9388 40 //Wait for capacitor to fire, 10us
szh66 0:3c59bc5c9388 41 wait_us(6);
szh66 0:3c59bc5c9388 42
szh66 0:3c59bc5c9388 43 last_read[i] = _input.read();
szh66 0:3c59bc5c9388 44 if (i){
szh66 0:3c59bc5c9388 45 sum += last_read[i];
szh66 0:3c59bc5c9388 46 }
szh66 0:3c59bc5c9388 47 //Wait 5us for turning off IR LED tx
szh66 0:3c59bc5c9388 48 _enable = 0;
szh66 0:3c59bc5c9388 49
szh66 0:3c59bc5c9388 50 //Wait 85us for turning on IR LED tx
szh66 0:3c59bc5c9388 51 wait_us(75);
szh66 0:3c59bc5c9388 52 }
szh66 0:3c59bc5c9388 53
szh66 0:3c59bc5c9388 54 sum /= 4;
szh66 0:3c59bc5c9388 55 value = sum;
szh66 0:3c59bc5c9388 56
szh66 0:3c59bc5c9388 57 float square = sum * sum;
szh66 0:3c59bc5c9388 58 float cube = square * sum;
szh66 0:3c59bc5c9388 59 float _value = 0;
szh66 0:3c59bc5c9388 60 _value += COEFF_1 / cube;
szh66 0:3c59bc5c9388 61 _value += COEFF_2 / square;
szh66 0:3c59bc5c9388 62 _value += COEFF_3 / sum;
szh66 0:3c59bc5c9388 63 _value += COEFF_4;
szh66 0:3c59bc5c9388 64 _value += COEFF_5 * sum;
szh66 0:3c59bc5c9388 65 _value += COEFF_6 * square;
szh66 0:3c59bc5c9388 66 _value += COEFF_7 * square * sum;
szh66 0:3c59bc5c9388 67
szh66 1:11970e541ecf 68 return value;
szh66 0:3c59bc5c9388 69 }
szh66 0:3c59bc5c9388 70
szh66 0:3c59bc5c9388 71 //Get the number of cells away wall is
szh66 0:3c59bc5c9388 72 float cell_dist(){
szh66 0:3c59bc5c9388 73 return readIR() / 18;
szh66 0:3c59bc5c9388 74 }
szh66 0:3c59bc5c9388 75
szh66 0:3c59bc5c9388 76 //Shorthand for read()
szh66 0:3c59bc5c9388 77 operator float() {
szh66 0:3c59bc5c9388 78 return readIR();
szh66 0:3c59bc5c9388 79 }
szh66 0:3c59bc5c9388 80
szh66 0:3c59bc5c9388 81 };
szh66 0:3c59bc5c9388 82
szh66 0:3c59bc5c9388 83 extern IRSensor rightIR;
szh66 0:3c59bc5c9388 84 extern IRSensor rightDiagonalIR;
szh66 0:3c59bc5c9388 85 extern IRSensor rightFrontIR;
szh66 0:3c59bc5c9388 86 extern IRSensor leftFrontIR;
szh66 0:3c59bc5c9388 87 extern IRSensor leftDiagonalIR;
szh66 0:3c59bc5c9388 88 extern IRSensor leftIR;
szh66 0:3c59bc5c9388 89
szh66 0:3c59bc5c9388 90
szh66 0:3c59bc5c9388 91 #endif