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68 lines
2.8 KiB
68 lines
2.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F |
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* infrared proximity sensor |
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* Code by Jose Julio and Randy Mackay. DIYDrones.com |
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* |
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* This library is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public |
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* License as published by the Free Software Foundation; either |
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* version 2.1 of the License, or (at your option) any later version. |
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* |
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* Sparkfun URL: http://www.sparkfun.com/products/9491 |
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* datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf |
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* |
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* Sensor should be connected to one of the analog ports |
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* |
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* Variables: |
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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) |
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* int min_distance : minimum measurable distance (in cm) |
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* |
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* Methods: |
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* read() : read value from analog port and returns the distance (in cm) |
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* |
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*/ |
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#include "AP_RangeFinder_MaxsonarXL.h" |
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// Constructor ////////////////////////////////////////////////////////////// |
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AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter) : |
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RangeFinder(source, filter), |
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_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER) |
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{ |
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max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE; |
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min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE; |
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} |
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// Public Methods ////////////////////////////////////////////////////////////// |
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float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage) |
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{ |
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float type_scaler = 1.0f; |
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switch(sonar_type) { |
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case AP_RANGEFINDER_MAXSONARXL: |
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type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER; |
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min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE; |
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max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE; |
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break; |
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case AP_RANGEFINDER_MAXSONARLV: |
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type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER; |
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min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE; |
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max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE; |
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break; |
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case AP_RANGEFINDER_MAXSONARXLL: |
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type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER; |
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min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE; |
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max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE; |
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break; |
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case AP_RANGEFINDER_MAXSONARHRLV: |
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type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER; |
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min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE; |
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max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE; |
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break; |
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} |
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_scaler = type_scaler * adc_refence_voltage / 5.0f; |
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return _scaler; |
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}
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