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RangeFinder: remove raw_value, orientation variables

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This saves 10bytes of RAM
This commit is contained in:
Randy Mackay 2014-02-10 14:56:52 +09:00
parent d19b566d97
commit 8d54e50897
2 changed files with 11 additions and 24 deletions
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16
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -25,21 +25,13 @@
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void RangeFinder::set_orientation(int x, int y, int z) // Read Sensor data - post of the ahrd work is done by the child class's convert_raw_to_distance
int16_t RangeFinder::read()
{ {
orientation_x = x; int16_t temp_dist;
orientation_y = y;
orientation_z = z;
}
// Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read()
{
int temp_dist;
raw_value = _analog_source->read_average();
// convert analog value to distance in cm (using child implementation most likely) // convert analog value to distance in cm (using child implementation most likely)
temp_dist = convert_raw_to_distance(raw_value); temp_dist = convert_raw_to_distance(_analog_source->read_average());
// ensure distance is within min and max // ensure distance is within min and max
temp_dist = constrain_float(temp_dist, min_distance, max_distance); temp_dist = constrain_float(temp_dist, min_distance, max_distance);

19
libraries/AP_RangeFinder/RangeFinder.h
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@ -26,33 +26,28 @@ protected:
_mode_filter(filter) { _mode_filter(filter) {
} }
public: public:
// raw_value: read the sensor
int raw_value;
// distance: in cm // distance: in cm
int distance; int16_t distance;
// maximum measurable distance: in cm // maximum measurable distance: in cm
int max_distance; int16_t max_distance;
// minimum measurable distance: in cm // minimum measurable distance: in cm
int min_distance; int16_t min_distance;
int orientation_x, orientation_y, orientation_z;
void set_orientation(int x, int y, int z);
/** /**
* convert_raw_to_distance: * convert_raw_to_distance:
* function that each child class should override to convert voltage * function that each child class should override to convert voltage
* to distance (in cm) * to distance (in cm)
*/ */
virtual int convert_raw_to_distance(int _raw_value) { virtual int16_t convert_raw_to_distance(int16_t raw_value) {
return _raw_value; return raw_value;
} }
/** /**
* read: * read:
* read value from sensor and return distance in cm * read value from sensor and return distance in cm
*/ */
virtual int read(); virtual int16_t read();
AP_HAL::AnalogSource* _analog_source; AP_HAL::AnalogSource* _analog_source;
FilterInt16 * _mode_filter; FilterInt16 * _mode_filter;
}; };
#endif // __RANGEFINDER_H__ #endif // __RANGEFINDER_H__