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AP Rangefinder had some bad characters in it. Converted and cleaned the text files.

mission-4.1.18
Jason Short 13 years ago
parent
351be7c305
commit
b6fc8e519c
7 changed files with 255 additions and 252 deletions
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  1. 128
      libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
  2. 67
      libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
  3. 81
      libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
  4. 35
      libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
  5. 89
      libraries/AP_RangeFinder/RangeFinder.cpp
  6. 79
      libraries/AP_RangeFinder/RangeFinder.h
  7. 28
      libraries/AP_RangeFinder/keywords.txt

128
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
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@ -1,65 +1,65 @@ @@ -1,65 +1,65 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Sparkfun URL: http://www.sparkfun.com/products/9491
datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
Sensor should be connected to one of the analog ports
Variables:
int raw_value : raw value from the sensor
int distance : distance in cm
int max_distance : maximum measurable distance (in cm)
int min_distance : minimum measurable distance (in cm)
Methods:
read() : read value from analog port and returns the distance (in cm)
*/
// AVR LibC Includes
#include "WConstants.h"
#include "AP_RangeFinder_MaxsonarXL.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source,
ModeFilter *filter) :
RangeFinder(source, filter), _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
{
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
{
float type_scaler = 1.0;
switch(sonar_type) {
case AP_RANGEFINDER_MAXSONARXL:
type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARLV:
type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARXLL:
type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
break;
}
_scaler = type_scaler * adc_refence_voltage / 5.0;
return _scaler;
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Sparkfun URL: http://www.sparkfun.com/products/9491
datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
Sensor should be connected to one of the analog ports
Variables:
int raw_value : raw value from the sensor
int distance : distance in cm
int max_distance : maximum measurable distance (in cm)
int min_distance : minimum measurable distance (in cm)
Methods:
read() : read value from analog port and returns the distance (in cm)
*/
// AVR LibC Includes
#include "WConstants.h"
#include "AP_RangeFinder_MaxsonarXL.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter):
RangeFinder(source, filter),
_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
{
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
{
float type_scaler = 1.0;
switch(sonar_type) {
case AP_RANGEFINDER_MAXSONARXL:
type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARLV:
type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARXLL:
type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
break;
}
_scaler = type_scaler * adc_refence_voltage / 5.0;
return _scaler;
}

67
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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#ifndef AP_RangeFinder_MaxsonarXL_H
#define AP_RangeFinder_MaxsonarXL_H
#include "RangeFinder.h"
// XL-EZ0 (aka XL)
#define AP_RANGEFINDER_MAXSONARXL 0
#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
// LV-EZ0 (aka LV)
#define AP_RANGEFINDER_MAXSONARLV 1
#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
// XL-EZL0 (aka XLL)
#define AP_RANGEFINDER_MAXSONARXLL 2
#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
class AP_RangeFinder_MaxsonarXL : public RangeFinder
{
public:
AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter);
int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; } // read value from analog port and return distance in cm
float calculate_scaler(int sonar_type, float adc_refence_voltage);
private:
float _scaler; // used to account for different sonar types
};
#endif
#ifndef AP_RangeFinder_MaxsonarXL_H
#define AP_RangeFinder_MaxsonarXL_H
#include "RangeFinder.h"
// XL-EZ0 (aka XL)
#define AP_RANGEFINDER_MAXSONARXL 0
#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
// LV-EZ0 (aka LV)
#define AP_RANGEFINDER_MAXSONARLV 1
#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
// XL-EZL0 (aka XLL)
#define AP_RANGEFINDER_MAXSONARXLL 2
#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
class AP_RangeFinder_MaxsonarXL : public RangeFinder
{
public:
AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter);
int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; } // read value from analog port and return distance in cm
float calculate_scaler(int sonar_type, float adc_refence_voltage);
private:
float _scaler; // used to account for different sonar types
};
#endif

81
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Sensor should be conected to one of the analog ports
Sparkfun URL: http://www.sparkfun.com/products/8958
datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
Variables:
int raw_value : raw value from the sensor
int distance : distance in cm
int max_distance : maximum measurable distance (in cm)
int min_distance : minimum measurable distance (in cm)
Methods:
read() : read value from analog port
*/
// AVR LibC Includes
#include "WConstants.h"
#include "AP_RangeFinder_SharpGP2Y.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source,
ModeFilter *filter) :
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Sensor should be conected to one of the analog ports
Sparkfun URL: http://www.sparkfun.com/products/8958
datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
Variables:
int raw_value : raw value from the sensor
int distance : distance in cm
int max_distance : maximum measurable distance (in cm)
int min_distance : minimum measurable distance (in cm)
Methods:
read() : read value from analog port
*/
// AVR LibC Includes
#include "WConstants.h"
#include "AP_RangeFinder_SharpGP2Y.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter) :
RangeFinder(source, filter)
{
max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
{
max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////

35
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
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@ -1,16 +1,21 @@ @@ -1,16 +1,21 @@
#ifndef AP_RangeFinder_SharpGP2Y_H
#define AP_RangeFinder_SharpGP2Y_H
#include "RangeFinder.h"
#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
class AP_RangeFinder_SharpGP2Y : public RangeFinder
{
public:
#ifndef AP_RangeFinder_SharpGP2Y_H
#define AP_RangeFinder_SharpGP2Y_H
#include "RangeFinder.h"
#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
class AP_RangeFinder_SharpGP2Y : public RangeFinder
{
public:
AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter);
int convert_raw_to_distance(int _raw_value) { if( _raw_value == 0 ) return max_distance; else return 14500/_raw_value; } // read value from analog port and return distance in cm
};
#endif
int convert_raw_to_distance(int _raw_value) {
if( _raw_value == 0 )
return max_distance;
else
return 14500/_raw_value;
} // read value from analog port and return distance in cm
};
#endif

89
libraries/AP_RangeFinder/RangeFinder.cpp
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This has the basic functions that all RangeFinders need implemented
*/
// AVR LibC Includes
#include "WConstants.h"
#include "RangeFinder.h"
// Public Methods //////////////////////////////////////////////////////////////
void RangeFinder::set_orientation(int x, int y, int z)
{
orientation_x = x;
orientation_y = y;
orientation_z = z;
}
// Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read()
{
int temp_dist;
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This has the basic functions that all RangeFinders need implemented
*/
// AVR LibC Includes
#include "WConstants.h"
#include "RangeFinder.h"
// Public Methods //////////////////////////////////////////////////////////////
void RangeFinder::set_orientation(int x, int y, int z)
{
orientation_x = x;
orientation_y = y;
orientation_z = z;
}
// Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read()
{
int temp_dist;
raw_value = _analog_source->read();
// convert analog value to distance in cm (using child implementation most likely)
temp_dist = convert_raw_to_distance(raw_value);
// ensure distance is within min and max
temp_dist = constrain(temp_dist, min_distance, max_distance);
distance = _mode_filter->get_filtered_with_sample(temp_dist);
return distance;
}
// convert analog value to distance in cm (using child implementation most likely)
temp_dist = convert_raw_to_distance(raw_value);
// ensure distance is within min and max
temp_dist = constrain(temp_dist, min_distance, max_distance);
distance = _mode_filter->get_filtered_with_sample(temp_dist);
return distance;
}

79
libraries/AP_RangeFinder/RangeFinder.h
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#ifndef RangeFinder_h
#define RangeFinder_h
#include <stdlib.h>
#include <inttypes.h>
#ifndef RangeFinder_h
#define RangeFinder_h
#include <stdlib.h>
#include <inttypes.h>
#include "../AP_AnalogSource/AP_AnalogSource.h"
#include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library
/*
#define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
#define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0
#define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10
#define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10
#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0
*/
class RangeFinder
{
protected:
#include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library
/*
#define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
#define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0
#define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10
#define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10
#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0
*/
class RangeFinder
{
protected:
RangeFinder(AP_AnalogSource * source, ModeFilter *filter) :
_analog_source(source),
_mode_filter(filter)
{}
public:
int raw_value; // raw value from the sensor
int distance; // distance in cm
int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor
int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
int orientation_x, orientation_y, orientation_z;
virtual void set_orientation(int x, int y, int z);
virtual int convert_raw_to_distance(int _raw_value) { return _raw_value; } // function that each child class should override to convert voltage to distance
virtual int read(); // read value from sensor and return distance in cm
_mode_filter(filter) {}
public:
int raw_value; // raw value from the sensor
int distance; // distance in cm
int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor
int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
int orientation_x, orientation_y, orientation_z;
virtual void set_orientation(int x, int y, int z);
virtual int convert_raw_to_distance(int _raw_value) { return _raw_value; } // function that each child class should override to convert voltage to distance
virtual int read(); // read value from sensor and return distance in cm
AP_AnalogSource *_analog_source;
ModeFilter *_mode_filter;
};
#endif
ModeFilter *_mode_filter;
};
#endif

28
libraries/AP_RangeFinder/keywords.txt
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@ -1,14 +1,14 @@ @@ -1,14 +1,14 @@
RangeFinder KEYWORD1
AP_RangeFinder KEYWORD1
AP_RangeFinder_SharpGP2Y KEYWORD1
AP_RangeFinder_MaxsonarXL KEYWORD1
read KEYWORD2
set_orientation KEYWORD2
convert_raw_to_distance KEYWORD2
raw_value KEYWORD2
distance KEYWORD2
max_distance KEYWORD2
min_distance KEYWORD2
orientation_x KEYWORD2
orientation_y KEYWORD2
orientation_z KEYWORD2
RangeFinder KEYWORD1
AP_RangeFinder KEYWORD1
AP_RangeFinder_SharpGP2Y KEYWORD1
AP_RangeFinder_MaxsonarXL KEYWORD1
read KEYWORD2
set_orientation KEYWORD2
convert_raw_to_distance KEYWORD2
raw_value KEYWORD2
distance KEYWORD2
max_distance KEYWORD2
min_distance KEYWORD2
orientation_x KEYWORD2
orientation_y KEYWORD2
orientation_z KEYWORD2
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