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57 lines
1.7 KiB
57 lines
1.7 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- |
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/* |
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AP_RangeFinder.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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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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This has the basic functions that all RangeFinders need implemented |
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*/ |
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// AVR LibC Includes |
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#include "WConstants.h" |
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#include "RangeFinder.h" |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void RangeFinder::set_analog_port(int analogPort) |
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{ |
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// store the analog port to be used |
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_analogPort = analogPort; |
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pinMode(analogPort, INPUT); |
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} |
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void RangeFinder::set_orientation(int x, int y, int z) |
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{ |
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orientation_x = x; |
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orientation_y = y; |
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orientation_z = z; |
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} |
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// Read Sensor data - only the raw_value is filled in by this parent class |
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int RangeFinder::read() |
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{ |
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// read from the analog port or pitot tube |
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if( _ap_adc != NULL ){ |
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// values from ADC are twice as big as you'd expect |
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raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2; |
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}else{ |
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// read raw sensor value and convert to distance |
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raw_value = analogRead(_analogPort); |
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} |
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// convert analog value to distance in cm (using child implementation most likely) |
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raw_value = convert_raw_to_distance(raw_value); |
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// ensure distance is within min and max |
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raw_value = constrain(raw_value, min_distance, max_distance); |
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distance = _mode_filter->get_filtered_with_sample(raw_value); |
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return distance; |
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} |
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