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16 lines
542 B
16 lines
542 B
#ifndef AP_RangeFinder_SharpGP2Y_H |
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#define AP_RangeFinder_SharpGP2Y_H |
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#include "RangeFinder.h" |
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#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20 |
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#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150 |
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class AP_RangeFinder_SharpGP2Y : public RangeFinder |
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{ |
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public: |
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AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter); |
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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 |
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}; |
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#endif
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