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46 lines
2.1 KiB
46 lines
2.1 KiB
#ifndef RangeFinder_h |
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#define RangeFinder_h |
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#include <stdlib.h> |
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#include <inttypes.h> |
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#include "../AP_ADC/AP_ADC.h" |
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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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#define AP_RANGEFINDER_PITOT_TUBE 1007 |
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#define AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL 7 |
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#define AP_RANGEFINDER_NUM_AVERAGES 4 |
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class RangeFinder |
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{ |
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public: |
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RangeFinder(); // constructor |
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int _analogPort; // the port to which the sensor is connected |
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AP_ADC *_ap_adc; // pointer to AP_ADC used for pitot tube |
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int _history[AP_RANGEFINDER_NUM_AVERAGES]; // history of recent distances used for filtering |
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int _num_averages; // filter will return average of this many historic values (must be < AP_RANGEFINDER_NUM_AVERAGES) |
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int _history_ptr; // pointer to the most recent entry in the history table |
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public: |
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int raw_value; // raw value from the sensor |
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int distance; // distance in cm |
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int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor |
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int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor |
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int orientation_x, orientation_y, orientation_z; |
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virtual void init(int analogPort, AP_ADC *adc = (AP_ADC*)NULL); |
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virtual void set_orientation(int x, int y, int z); |
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virtual void set_filter(int num_averages) { _num_averages = num_averages; } // allows control of amount of filtering done |
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virtual int convert_raw_to_distance(int _raw_value) { return _raw_value; } // function that each child class should override to convert voltage to distance |
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virtual int read(); // read value from sensor and return distance in cm |
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}; |
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#endif
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