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37 lines
1.2 KiB
37 lines
1.2 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_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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// Protected Methods ////////////////////////////////////////////////////////// |
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int RangeFinder::filter(int latestValue) |
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{ |
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int i; |
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int total = 0; |
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_history_ptr = (_history_ptr + 1) % AP_RANGEFINDER_NUM_AVERAGES; |
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_history[_history_ptr] = latestValue; |
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for(i=0; i<AP_RANGEFINDER_NUM_AVERAGES; i++ ) |
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total += _history[i]; |
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return total / AP_RANGEFINDER_NUM_AVERAGES; |
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}
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