Xavier Jannin
/
PETIT_robot
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Diff: Capteurs/Infra.cpp
- Revision:
- 0:1cfd66c3a181
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Capteurs/Infra.cpp Wed May 22 16:54:27 2019 +0000
@@ -0,0 +1,33 @@
+#include "Infra.h"
+#include <math.h>
+
+// Constructeur:
+Infra::Infra(PinName pin)
+ : m_analog(pin),
+ m_isOn(true),
+ m_distdetect(30.0f),
+ m_detect(false) {}
+
+// Mesure:
+bool Infra::mesure() {
+ // Mesure:
+ m_voltage = m_analog.read();
+ m_voltage = (float)m_voltage * (float)3.3;
+ m_distance = (float)29.988 * powf(m_voltage, -1.173) / 2.0f;
+
+ // Détection:
+ if (m_isOn) m_detect = m_distance < m_distdetect;
+ else m_detect = false;
+
+ return m_detect;
+}
+
+// Setters:
+void Infra::setDistDetect(float detect) { m_distdetect = detect; }
+void Infra::on() { m_isOn = true; }
+void Infra::off() { m_isOn = false; }
+
+// Getters:
+float Infra::getDistance() { return m_distance; }
+float Infra::getVoltage() { return m_voltage; }
+float Infra::getDistdetect() { return m_distdetect; }