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97 lines
2.8 KiB
97 lines
2.8 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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// Constructor ///////////////////////////////////////////////////////////////// |
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RangeFinder::RangeFinder() : _num_averages(AP_RANGEFINDER_NUM_AVERAGES), _ap_adc(NULL), _history_ptr(0) |
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{ |
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} |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void RangeFinder::init(int analogPort, AP_ADC *ap_adc) |
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{ |
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// local variables |
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int i; |
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// store the analog port to be used |
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_analogPort = analogPort; |
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// set the given analog port to an input |
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if( analogPort != AP_RANGEFINDER_PITOT_TUBE ) |
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{ |
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pinMode(analogPort, INPUT); |
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}else{ |
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_num_averages = 0; // turn off averaging for pitot tube because AP_ADC does this for us |
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} |
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// capture the AP_ADC object if passed in |
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if( ap_adc != NULL ) |
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_ap_adc = ap_adc; |
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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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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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// local variables |
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int temp_dist; |
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int total = 0; |
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int i; |
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// read from the analog port or pitot tube |
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if( _analogPort == AP_RANGEFINDER_PITOT_TUBE ) { |
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if( _ap_adc != NULL ) |
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raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2; // values from ADC are twice as big as you'd expect |
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else |
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raw_value = 0; |
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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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temp_dist = convert_raw_to_distance(raw_value); |
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// ensure distance is within min and max |
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distance = constrain(temp_dist, min_distance, max_distance); |
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// filter the results |
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if( _num_averages > 1 ) |
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{ |
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_history_ptr = (_history_ptr + 1) % _num_averages; |
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_history[_history_ptr] = distance; |
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for(i=0; i<_num_averages; i++ ) |
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total += _history[i]; |
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distance = total / _num_averages; |
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} |
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// return distance |
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return distance; |
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} |