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58 lines
1.7 KiB
58 lines
1.7 KiB
#ifndef __RANGEFINDER_H__ |
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#define __RANGEFINDER_H__ |
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#include <AP_Common.h> |
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#include <AP_HAL.h> |
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#include <Filter.h> // Filter library |
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/* |
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* #define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10 |
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* #define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10 |
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* #define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0 |
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* #define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0 |
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*/ |
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class RangeFinder |
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{ |
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protected: |
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RangeFinder(AP_HAL::AnalogSource * source, FilterInt16 *filter) : |
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_analog_source(source), |
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_mode_filter(filter) { |
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} |
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public: |
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// raw_value: read the sensor |
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int raw_value; |
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// distance: in cm |
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int distance; |
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// maximum measurable distance: in cm |
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int max_distance; |
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// minimum measurable distance: in cm |
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int min_distance; |
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int orientation_x, orientation_y, orientation_z; |
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void set_orientation(int x, int y, int z); |
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/** |
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* convert_raw_to_distance: |
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* function that each child class should override to convert voltage |
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* to distance (in cm) |
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*/ |
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virtual int convert_raw_to_distance(int _raw_value) { |
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return _raw_value; |
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} |
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/** |
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* read: |
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* read value from sensor and return distance in cm |
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*/ |
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virtual int read(); |
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AP_HAL::AnalogSource* _analog_source; |
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FilterInt16 * _mode_filter; |
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}; |
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#endif // __RANGEFINDER_H__
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