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AP_RangeFinder: removed old style analog drivers 

replaced by generic analog driver
master
Andrew Tridgell 11 years ago
parent
ed346fd639
commit
4cba48ade2
5 changed files with 0 additions and 209 deletions
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  1. 80
      libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
  2. 42
      libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
  3. 51
      libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
  4. 22
      libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
  5. 14
      libraries/AP_RangeFinder/keywords.txt

80
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
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#if 0
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
* infrared proximity sensor
* Code by Jose Julio and Randy Mackay. DIYDrones.com
*
* Sparkfun URL: http://www.sparkfun.com/products/9491
* datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
*
* Sensor should be connected to one of the analog ports
*
* Variables:
* int distance : distance in cm
* int max_distance : maximum measurable distance (in cm)
* int min_distance : minimum measurable distance (in cm)
*
* Methods:
* read() : read value from analog port and returns the distance (in cm)
*
*/
#include "AP_RangeFinder_MaxsonarXL.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter) :
RangeFinder(source, filter),
_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
{
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int16_t sonar_type, float adc_refence_voltage)
{
float type_scaler = 1.0f;
switch(sonar_type) {
case AP_RANGEFINDER_MAXSONARXL:
type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARLV:
type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARXLL:
type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARHRLV:
type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
break;
}
_scaler = type_scaler * adc_refence_voltage / 5.0f;
return _scaler;
}
#endif

42
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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#ifndef __AP_RangeFinder_MaxsonarXL_H__
#define __AP_RangeFinder_MaxsonarXL_H__
#include "RangeFinder.h"
// XL-EZ0 (aka XL)
#define AP_RANGEFINDER_MAXSONARXL 0
#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
// LV-EZ0 (aka LV)
#define AP_RANGEFINDER_MAXSONARLV 1
#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
// XL-EZL0 (aka XLL)
#define AP_RANGEFINDER_MAXSONARXLL 2
#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
// HRLV-MaxSonar-EZ0 (aka HRLV)
#define AP_RANGEFINDER_MAXSONARHRLV 3
#define AP_RANGEFINDER_MAXSONARHRLV_SCALER 0.512
#define AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE 30
#define AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE 500
class AP_RangeFinder_MaxsonarXL : public RangeFinder
{
public:
AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter);
int16_t convert_raw_to_distance(int16_t raw_value) {
return raw_value * _scaler;
} // read value from analog port and return distance in cm
float calculate_scaler(int16_t sonar_type, float adc_refence_voltage);
private:
float _scaler; // used to account for different sonar types
};
#endif

51
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
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#if 0
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
* infrared proximity sensor
* Code by Jose Julio and Randy Mackay. DIYDrones.com
*
* Sensor should be conected to one of the analog ports
*
* Sparkfun URL: http://www.sparkfun.com/products/8958
* datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
*
* Variables:
* int raw_value : raw value from the sensor
* int distance : distance in cm
* int max_distance : maximum measurable distance (in cm)
* int min_distance : minimum measurable distance (in cm)
*
* Methods:
* read() : read value from analog port
*
*/
#include "AP_RangeFinder_SharpGP2Y.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_HAL::AnalogSource *source, FilterInt16 *filter) :
RangeFinder(source, filter)
{
max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
#endif

22
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
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#ifndef __AP_RangeFinder_SharpGP2Y_H__
#define __AP_RangeFinder_SharpGP2Y_H__
#include "RangeFinder.h"
#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
class AP_RangeFinder_SharpGP2Y : public RangeFinder
{
public:
AP_RangeFinder_SharpGP2Y(AP_HAL::AnalogSource *source, FilterInt16 *filter);
int16_t convert_raw_to_distance(int16_t raw_value) {
if (raw_value == 0) {
return max_distance;
} else {
return 14500/raw_value;
}
} // read value from analog port and return distance in cm
};
#endif

14
libraries/AP_RangeFinder/keywords.txt
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RangeFinder KEYWORD1
AP_RangeFinder KEYWORD1
AP_RangeFinder_SharpGP2Y KEYWORD1
AP_RangeFinder_MaxsonarXL KEYWORD1
read KEYWORD2
set_orientation KEYWORD2
convert_raw_to_distance KEYWORD2
raw_value KEYWORD2
distance KEYWORD2
max_distance KEYWORD2
min_distance KEYWORD2
orientation_x KEYWORD2
orientation_y KEYWORD2
orientation_z KEYWORD2
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