AP_RangeFinder library. Simple library to support the Sharpe IR range finder and the Maxsonic XL sonar

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1147 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_RangeFinder/AP_RangeFinder.h

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	AP_RangeFinder.h
+/// @brief	Catch-all header that defines all supported RangeFinder classes.
+
+#include "AP_RangeFinder_SharpGP2Y.h"
+#include "AP_RangeFinder_MaxsonarXL.h"

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/9495
+	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ4-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 meters
+		int max_distance : maximum measurable distance (in cm)
+		int min_distance : minimum measurable distance (in cm)
+	
+	Methods:
+		init(int analogPort) : Initialization of sensor
+		read() : read value from analog port and returns the distance (in cm)
+		
+*/
+
+// AVR LibC Includes
+#include "WConstants.h"
+
+#include "AP_RangeFinder_MaxsonarXL.h"
+
+// Public Methods //////////////////////////////////////////////////////////////
+void AP_RangeFinder_MaxsonarXL::init(int analogPort)
+{
+    // initialise everything
+    _analogPort = analogPort;
+	max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
+	min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
+	
+	// make first call to read to get initial distance
+	read();
+}
+
+// Read Sensor data
+int AP_RangeFinder_MaxsonarXL::read()
+{
+    // read raw sensor value and convert to distance
+    raw_value = analogRead(_analogPort);
+	
+	// for this sensor, the sensor value is the distance in cm! nice and easy!
+	distance = constrain(raw_value,min_distance,max_distance);
+	
+	// implement filter
+    //switch( _filterType ) {
+	//    case AP_RANGEFINDER_FILTER_LIMITED_CHANGE:
+	//	    distance = constrain(
+	//	    break;
+	//	case AP_RANGEFINDER_FILTER_NONE:
+	//    default:
+	//	    distance = tempDistance;
+	//	    break;
+	//}
+	
+	// return distance
+	return distance;
+}

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h

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+#ifndef AP_RangeFinder_MaxsonarXL_H
+#define AP_RangeFinder_MaxsonarXL_H
+
+#include "RangeFinder.h"
+
+#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
+#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 700
+
+class AP_RangeFinder_MaxsonarXL : public RangeFinder
+{	
+  public:
+	void init(int analogPort);
+	int read();   // read value from analog port and return distance in cm
+};
+#endif

libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
+/*
+	AP_RangeFinder_SharpGP2Y.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.
+
+	Sensor should be conected to one of the analog ports
+	
+	Sparkfun URL: http://www.sparkfun.com/products/8958
+	datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
+	
+	Variables:
+		int raw_value : raw value from the sensor
+		int distance : distance in meters
+		int max_distance : maximum measurable distance (in cm)
+		int min_distance : minimum measurable distance (in cm)
+	
+	Methods:
+		init(int analogPort) : Initialization of sensor
+		read() : read value from analog port	
+		
+*/
+
+// AVR LibC Includes
+#include "WConstants.h"
+
+#include "AP_RangeFinder_SharpGP2Y.h"
+
+// Public Methods //////////////////////////////////////////////////////////////
+void AP_RangeFinder_SharpGP2Y::init(int analogPort)
+{
+    // initialise everything
+    _analogPort = analogPort;
+	max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
+	min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
+	
+	// make first call to read to get initial distance
+	read();
+}
+
+// Read Sensor data
+int AP_RangeFinder_SharpGP2Y::read()
+{
+    // read raw sensor value and convert to distance
+    raw_value = analogRead(_analogPort);
+	distance = constrain(14500/raw_value,min_distance,max_distance); 
+	
+	// implement filter
+    //switch( _filterType ) {
+	//    case AP_RANGEFINDER_FILTER_LIMITED_CHANGE:
+	//	    distance = constrain(
+	//	    break;
+	//	case AP_RANGEFINDER_FILTER_NONE:
+	//    default:
+	//	    distance = tempDistance;
+	//	    break;
+	//}
+	
+	// return distance
+	return distance;
+}

libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h

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+#ifndef AP_RangeFinder_SharpGP2Y_H
+#define AP_RangeFinder_SharpGP2Y_H
+
+#include "RangeFinder.h"
+
+#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
+#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
+
+class AP_RangeFinder_SharpGP2Y : public RangeFinder
+{	
+  public:
+	void init(int analogPort);
+	int read();   // read value from analog port and return distance in cm
+};
+#endif

libraries/AP_RangeFinder/RangeFinder.h

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+#ifndef RangeFinder_h
+#define RangeFinder_h
+
+#include <inttypes.h>
+
+//#define AP_RANGEFINDER_FILTER_NONE 0
+//#define AP_RANGEFINDER_FILTER_LIMITED_CHANGE 1
+
+class RangeFinder
+{
+  protected:
+    int _analogPort;  // the port to which the sensor is connected
+	int _filterType;
+  public:
+	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)
+	
+	virtual void init(int analogPort);
+	//virtual void set_filter(int filterType) { _filterType = filterType; };
+	virtual int read();   // read value from analog port and return distance in cm
+};
+#endif

libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde

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+/*
+  AP_RangeFinder_test
+  Code by DIYDrones.com
+*/
+
+#include <AP_RangeFinder.h>        // Sonar library
+
+#define RF_PIN 5 // the far back-right pin on the oilpan (near the CLI switch)
+
+// create the range finder object
+//AP_RangeFinder_SharpGP2Y aRF;
+AP_RangeFinder_MaxsonarXL aRF;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println("Range Finder Test v1.0");
+  aRF.init(RF_PIN);
+}
+
+void loop()
+{   
+    Serial.print("dist:");
+    Serial.print(aRF.read());
+    Serial.print("\traw:");
+    Serial.print(aRF.raw_value);    
+    Serial.println();
+    delay(100); 
+}
+

libraries/AP_RangeFinder/keywords.txt

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+RangeFinder	KEYWORD1
+AP_RangeFinder	KEYWORD1
+AP_RangeFinder_SharpGP2Y	KEYWORD1
+AP_RangeFinder_MaxsonarXL	KEYWORD1
+init	KEYWORD2
+read	KEYWORD2
+raw_value	KEYWORD2
+distance	KEYWORD2
+max_distance	KEYWORD2
+min_distance	KEYWORD2