AP_RangeFinder - removed LV version because we use XL which covers both types of sonars

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3237 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -5,4 +5,3 @@
 
 #include "AP_RangeFinder_SharpGP2Y.h"
 #include "AP_RangeFinder_MaxsonarXL.h"
-#include "AP_RangeFinder_MaxsonarLV.h"

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.cpp

@@ -1,49 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
-/*
-	AP_RangeFinder_MaxsonarLV.cpp - Arduino Library for Maxbotix's LV-MaxSonar
-	Sonic 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/8502
-	datasheet: http://www.maxbotix.com/uploads/LV-MaxSonar-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:
-		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_MaxsonarLV.h"
-
-// Constructor //////////////////////////////////////////////////////////////
-/*AP_RangeFinder_MaxsonarLV::AP_RangeFinder_MaxsonarLV()
-{
-    max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
-	min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
-}
-*/
-AP_RangeFinder_MaxsonarLV::AP_RangeFinder_MaxsonarLV(AP_ADC *adc, ModeFilter *filter) :
-	RangeFinder(adc, filter)
-{
-    max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
-	min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.h

@@ -1,17 +0,0 @@
-#ifndef AP_RangeFinder_MaxsonarLV_H
-#define AP_RangeFinder_MaxsonarLV_H
-
-#include "RangeFinder.h"
-
-#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
-#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
-
-class AP_RangeFinder_MaxsonarLV : public RangeFinder
-{
-  public:
-    //AP_RangeFinder_MaxsonarLV();
-	AP_RangeFinder_MaxsonarLV(AP_ADC *adc, ModeFilter *filter);
-
-	int convert_raw_to_distance(int _raw_value) { return _raw_value * 2.54; }   // read value from analog port and return distance in cm
-};
-#endif

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp

@@ -21,7 +21,6 @@
 		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)
 
 */
@@ -31,9 +30,6 @@
 #include "AP_RangeFinder_MaxsonarXL.h"
 
 // Constructor //////////////////////////////////////////////////////////////
-//AP_GPS_MTK16::AP_GPS_MTK16(Stream *s) : GPS(s)
-//{
-//}
 
 AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_ADC *adc, ModeFilter *filter) :
 	RangeFinder(adc, filter)

libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp

@@ -21,7 +21,6 @@
 		int min_distance : minimum measurable distance (in cm)
 
 	Methods:
-		init(int analogPort) : Initialization of sensor
 		read() : read value from analog port
 
 */
@@ -31,13 +30,7 @@
 #include "AP_RangeFinder_SharpGP2Y.h"
 
 // Constructor //////////////////////////////////////////////////////////////
-/*
+
-AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y()
-{
-	max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
-	min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
-}
-*/
 AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_ADC *adc, ModeFilter *filter) :
 	RangeFinder(adc, filter)
 {

libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h

@@ -10,7 +10,6 @@ class AP_RangeFinder_SharpGP2Y : public RangeFinder
 {
   public:
 	AP_RangeFinder_SharpGP2Y(AP_ADC *adc, ModeFilter *filter);
-	//AP_RangeFinder_SharpGP2Y();
 	int convert_raw_to_distance(int _raw_value) { if( _raw_value == 0 ) return max_distance; else return 14500/_raw_value; }   // read value from analog port and return distance in cm
 
 };

libraries/AP_RangeFinder/RangeFinder.h

@@ -34,10 +34,6 @@ class RangeFinder
 	{}
   public:
 
-	//int _history[AP_RANGEFINDER_NUM_AVERAGES]; // history of recent distances used for filtering
-	//int _num_averages; // filter will return average of this many historic values (must be < AP_RANGEFINDER_NUM_AVERAGES)
-	//int _history_ptr;  // pointer to the most recent entry in the history table
-
 	int raw_value;     // raw value from the sensor
 	int distance;      // distance in cm
 	int max_distance;  // maximum measurable distance (in cm) - should be set in child's constructor
@@ -46,7 +42,6 @@ class RangeFinder
 
 	virtual void set_analog_port(int analogPort);
     virtual void set_orientation(int x, int y, int z);
-	//virtual void set_filter(int num_averages) { _num_averages = num_averages; } // allows control of amount of filtering done
 	virtual int convert_raw_to_distance(int _raw_value) { return _raw_value; }  // function that each child class should override to convert voltage to distance
 	virtual int read();   // read value from sensor and return distance in cm
 

libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde

@@ -5,24 +5,24 @@
 
 #include <AP_RangeFinder.h>     // Range finder library
 #include <AP_ADC.h>				// ArduPilot Mega Analog to Digital Converter Library
+#include <ModeFilter.h>			// mode filter
 
 #define RF_PIN AP_RANGEFINDER_PITOT_TUBE // the pitot tube on the front of the oilpan
 //#define RF_PIN A5 // A5 is the far back-right pin on the oilpan (near the CLI switch)
 
 // declare global instances for reading pitot tube
 AP_ADC_ADS7844	adc;
+ModeFilter mode_filter;
 
 // create the range finder object
-//AP_RangeFinder_SharpGP2Y aRF;
+//AP_RangeFinder_SharpGP2Y aRF(&adc, &mode_filter);
-AP_RangeFinder_MaxsonarXL aRF;
+AP_RangeFinder_MaxsonarXL aRF(&adc, &mode_filter);
-//AP_RangeFinder_MaxsonarLV aRF;
 
 void setup()
 {
-  Serial.begin(38400);
+  Serial.begin(115200);
   Serial.println("Range Finder Test v1.0");
   adc.Init();            // APM ADC library initialization
-  aRF.init(RF_PIN, &adc);
 }
 
 void loop()

libraries/AP_RangeFinder/keywords.txt

@@ -2,11 +2,10 @@ RangeFinder	KEYWORD1
 AP_RangeFinder	KEYWORD1
 AP_RangeFinder_SharpGP2Y	KEYWORD1
 AP_RangeFinder_MaxsonarXL	KEYWORD1
-AP_RangeFinder_MaxsonarLV	KEYWORD1
-init	KEYWORD2
 read	KEYWORD2
-filter	KEYWORD2
+set_analog_port	KEYWORD2
 set_orientation	KEYWORD2
+convert_raw_to_distance	KEYWORD2
 raw_value	KEYWORD2
 distance	KEYWORD2
 max_distance	KEYWORD2