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21 lines
587 B
21 lines
587 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, FilterInt16 *filter); |
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int convert_raw_to_distance(int _raw_value) { |
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if( _raw_value == 0 ) |
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return max_distance; |
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else |
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return 14500/_raw_value; |
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} // read value from analog port and return distance in cm |
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}; |
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#endif
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