ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
* AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
* infrared proximity sensor
* Code by Jose Julio and Randy Mackay. DIYDrones.com
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* Sparkfun URL: http://www.sparkfun.com/products/9491
* datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
*
* Sensor should be connected to one of the analog ports
*
* Variables:
* int raw_value : raw value from the sensor
* int distance : distance in cm
* int max_distance : maximum measurable distance (in cm)
* int min_distance : minimum measurable distance (in cm)
*
* Methods:
* read() : read value from analog port and returns the distance (in cm)
*
*/
#include "AP_RangeFinder_MaxsonarXL.h"
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter) :
RangeFinder(source, filter),
_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
{
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
{
float type_scaler = 1.0f;
switch(sonar_type) {
case AP_RANGEFINDER_MAXSONARXL:
type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARLV:
type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARXLL:
type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
break;
case AP_RANGEFINDER_MAXSONARHRLV:
type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
break;
}
_scaler = type_scaler * adc_refence_voltage / 5.0f;
return _scaler;
}