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42 lines
1.6 KiB
42 lines
1.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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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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* |
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* This has the basic functions that all RangeFinders need implemented |
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*/ |
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#include "RangeFinder.h" |
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// Public Methods ////////////////////////////////////////////////////////////// |
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// Read Sensor data - post of the ahrd work is done by the child class's convert_raw_to_distance |
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int16_t RangeFinder::read() |
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{ |
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int16_t temp_dist; |
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// convert analog value to distance in cm (using child implementation most likely) |
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temp_dist = convert_raw_to_distance(_analog_source->read_average()); |
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// ensure distance is within min and max |
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temp_dist = constrain_float(temp_dist, min_distance, max_distance); |
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distance = _mode_filter->apply(temp_dist); |
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return distance; |
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} |
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