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67 lines
2.0 KiB
67 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- |
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/* |
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AP_RangeFinder_SharpGP2Y.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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Sensor should be conected to one of the analog ports |
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Sparkfun URL: http://www.sparkfun.com/products/8958 |
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datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf |
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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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Methods: |
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init(int analogPort) : Initialization of sensor |
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read() : read value from analog port |
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*/ |
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// AVR LibC Includes |
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#include "WConstants.h" |
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#include "AP_RangeFinder_SharpGP2Y.h" |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void AP_RangeFinder_SharpGP2Y::init(int analogPort) |
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{ |
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// local variables |
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int i; |
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// set the given analog port to an input |
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pinMode(analogPort, INPUT); |
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// initialise everything |
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_analogPort = analogPort; |
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max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE; |
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min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE; |
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// make first call to read to get initial distance |
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read(); |
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// initialise history |
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for( i=0; i<AP_RANGEFINDER_NUM_AVERAGES; i++ ) |
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_history[i] = distance; |
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} |
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// Read Sensor data |
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int AP_RangeFinder_SharpGP2Y::read() |
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{ |
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// read raw sensor value and convert to distance |
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raw_value = analogRead(_analogPort); |
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if( raw_value == 0 ) |
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distance = max_distance; |
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else |
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distance = constrain(14500/raw_value,min_distance,max_distance); |
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// return distance |
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return filter(distance); |
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}
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