Diff: IRSensor.h

Revision:

0:3c59bc5c9388

Child:

1:11970e541ecf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.h	Sun Feb 26 20:29:20 2017 +0000
@@ -0,0 +1,90 @@
+#ifndef IR_H
+#define IR_H
+
+#include "mbed.h"
+
+extern Serial pc;
+
+class IRSensor {
+public:
+    DigitalOut _enable;
+    AnalogIn _input;
+    volatile float value; 
+    float COEFF_1;
+    float COEFF_2;
+    float COEFF_3;
+    float COEFF_4;
+    float COEFF_5;
+    float COEFF_6;
+    float COEFF_7;
+
+    float last_read[5];
+    
+    IRSensor(PinName enable, PinName input, float c1 = 0.217722944294793f, float c2 = -5.50965509541424f, 
+                        float c3 = 55.0111470003071f, float c4 = -229.934241342364f, float c5 = 506.986371752309f, 
+                        float c6 = -502.862134567129f, float c7 = 177.712915019135f) : _enable(enable), _input(input), 
+                        COEFF_1(c1), COEFF_2(c2), COEFF_3(c3), COEFF_4(c4), COEFF_5(c5), COEFF_6(c6), COEFF_7(c7) {
+    }
+    
+    //Get the value in encoder units, samples?... 
+    float readIR(){
+        float sum = 0;
+
+        //Each duration takes 100us, 5 times = 0.5ms
+        for (int i = 0; i < 5; i++)
+        {
+            //Turn on IR LED tx
+            _enable = 1;
+    
+            //Wait for capacitor to fire, 10us
+            wait_us(6);
+            
+            last_read[i] = _input.read();
+            if (i){
+                sum += last_read[i];
+            }
+            //Wait 5us for turning off IR LED tx
+            _enable = 0;
+    
+            //Wait 85us for turning on IR LED tx
+            wait_us(75);
+        }
+        
+        sum /= 4;
+        value = sum;
+        
+        float square = sum * sum;
+        float cube = square * sum;
+        float _value = 0;
+        _value += COEFF_1 / cube;
+        _value += COEFF_2 / square;
+        _value += COEFF_3 / sum;
+        _value += COEFF_4;
+        _value += COEFF_5 * sum;
+        _value += COEFF_6 * square;
+        _value += COEFF_7 * square * sum;
+        
+        return _value;
+    }
+
+    //Get the number of cells away wall is
+    float cell_dist(){
+        return readIR() / 18;
+    }
+
+    //Shorthand for read()
+    operator float() {
+        return readIR();
+    }
+
+};
+
+extern IRSensor rightIR;
+extern IRSensor rightDiagonalIR;
+extern IRSensor rightFrontIR;
+extern IRSensor leftFrontIR;
+extern IRSensor leftDiagonalIR;
+extern IRSensor leftIR;
+
+
+#endif