ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
CakeSensor.h
00001 00002 // Eurobot13 CakeSensor.h 00003 00004 #include "mbed.h" 00005 00006 class CakeSensor{ 00007 private: 00008 AnalogIn ain; 00009 00010 public: 00011 CakeSensor(PinName analoginpin) : ain(analoginpin){} 00012 00013 float Distance(){return ain;} 00014 00015 float Distanceincm(){ 00016 //float d = 5.5/(Distance()-0.13); 00017 float d = 7.53/(Distance()-0.022); 00018 d = (d < 6 || d > 30)? -1:d; 00019 return d; 00020 } 00021 }; 00022 /* 00023 data = {{1/6,0.95},{1/9, 0.86}, {1/12, 0.65}, {1/15, 0.52}, {1/18, 0.44}, {1/21, 0.38}, {1/24, 0.33}, {1/27, 0.30}, {1/30, 0.28}} 00024 Regress[data, {1, x}, x] 00025 float d = 5.5/(Distance()-0.13); 00026 00027 00028 data2 = {{1/9, 0.86}, {1/12, 0.65}, {1/15, 0.52}, {1/18, 0.44}, {1/21, 0.38}, {1/24, 0.33}, {1/27, 0.30}, {1/30, 0.28}} 00029 Regress[data2, {1, x}, x] 00030 float d = 7.53/(Distance()-0.022); 00031 00032 */
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