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working version with calibration done
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Diff: Sonar/RFSRF05.cpp
- Revision:
- 11:5ba926692210
- Parent:
- 10:2bd9f4e02b74
diff -r 2bd9f4e02b74 -r 5ba926692210 Sonar/RFSRF05.cpp --- a/Sonar/RFSRF05.cpp Sun Apr 07 16:30:49 2013 +0000 +++ b/Sonar/RFSRF05.cpp Tue Apr 09 15:32:47 2013 +0000 @@ -1,4 +1,3 @@ - #include "RFSRF05.h" #include "mbed.h" #include "globals.h" @@ -141,11 +140,11 @@ ValidPulse = false; //Calucate distance - //true offset is about 100, we put 300 so circles overlap - _dist[_beacon_counter] = _timer.read_us()/2.9 + 300; + //true offset is about 100, we put 300 so circles overlap, not sure about the true speed-of-sound constant + _dist[_beacon_counter] = _timer.read_us()/2.8807f + 70; //2.8807f if (callbackfunc) - (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]); + (*callbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance); if (callbackobj && mcallbackfunc) (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance);