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AP Rangefinder had some bad characters in it. Converted and cleaned the text files.

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Jason Short 2012-01-10 15:44:04 -08:00
parent 9cbfcac802
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128
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/* /*
AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. version 2.1 of the License, or (at your option) any later version.
Sparkfun URL: http://www.sparkfun.com/products/9491 Sparkfun URL: http://www.sparkfun.com/products/9491
datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
Sensor should be connected to one of the analog ports Sensor should be connected to one of the analog ports
Variables: Variables:
int raw_value : raw value from the sensor int raw_value : raw value from the sensor
int distance : distance in cm int distance : distance in cm
int max_distance : maximum measurable distance (in cm) int max_distance : maximum measurable distance (in cm)
int min_distance : minimum measurable distance (in cm) int min_distance : minimum measurable distance (in cm)
Methods: Methods:
read() : read value from analog port and returns the distance (in cm) read() : read value from analog port and returns the distance (in cm)
*/ */
// AVR LibC Includes // AVR LibC Includes
#include "WConstants.h" #include "WConstants.h"
#include "AP_RangeFinder_MaxsonarXL.h" #include "AP_RangeFinder_MaxsonarXL.h"
// Constructor ////////////////////////////////////////////////////////////// // Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter):
ModeFilter *filter) : RangeFinder(source, filter),
RangeFinder(source, filter), _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER) _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
{ {
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE; max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE; min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage) float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
{ {
float type_scaler = 1.0; float type_scaler = 1.0;
switch(sonar_type) { switch(sonar_type) {
case AP_RANGEFINDER_MAXSONARXL: case AP_RANGEFINDER_MAXSONARXL:
type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER; type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE; min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE; max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
break; break;
case AP_RANGEFINDER_MAXSONARLV: case AP_RANGEFINDER_MAXSONARLV:
type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER; type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE; min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE; max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
break; break;
case AP_RANGEFINDER_MAXSONARXLL: case AP_RANGEFINDER_MAXSONARXLL:
type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER; type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE; min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE; max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
break; break;
} }
_scaler = type_scaler * adc_refence_voltage / 5.0; _scaler = type_scaler * adc_refence_voltage / 5.0;
return _scaler; return _scaler;
} }

67
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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#ifndef AP_RangeFinder_MaxsonarXL_H #ifndef AP_RangeFinder_MaxsonarXL_H
#define AP_RangeFinder_MaxsonarXL_H #define AP_RangeFinder_MaxsonarXL_H
#include "RangeFinder.h" #include "RangeFinder.h"
// XL-EZ0 (aka XL) // XL-EZ0 (aka XL)
#define AP_RANGEFINDER_MAXSONARXL 0 #define AP_RANGEFINDER_MAXSONARXL 0
#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0 #define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20 #define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765 #define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
// LV-EZ0 (aka LV) // LV-EZ0 (aka LV)
#define AP_RANGEFINDER_MAXSONARLV 1 #define AP_RANGEFINDER_MAXSONARLV 1
#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0) #define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15 #define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645 #define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
// XL-EZL0 (aka XLL) // XL-EZL0 (aka XLL)
#define AP_RANGEFINDER_MAXSONARXLL 2 #define AP_RANGEFINDER_MAXSONARXLL 2
#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0 #define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20 #define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068 #define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
class AP_RangeFinder_MaxsonarXL : public RangeFinder class AP_RangeFinder_MaxsonarXL : public RangeFinder
{ {
public: public:
AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter); AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter);
int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; } // read value from analog port and return distance in cm int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; } // read value from analog port and return distance in cm
float calculate_scaler(int sonar_type, float adc_refence_voltage); float calculate_scaler(int sonar_type, float adc_refence_voltage);
private:
float _scaler; // used to account for different sonar types private:
}; float _scaler; // used to account for different sonar types
#endif };
#endif

81
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/* /*
AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. version 2.1 of the License, or (at your option) any later version.
Sensor should be conected to one of the analog ports Sensor should be conected to one of the analog ports
Sparkfun URL: http://www.sparkfun.com/products/8958 Sparkfun URL: http://www.sparkfun.com/products/8958
datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
Variables: Variables:
int raw_value : raw value from the sensor int raw_value : raw value from the sensor
int distance : distance in cm int distance : distance in cm
int max_distance : maximum measurable distance (in cm) int max_distance : maximum measurable distance (in cm)
int min_distance : minimum measurable distance (in cm) int min_distance : minimum measurable distance (in cm)
Methods: Methods:
read() : read value from analog port read() : read value from analog port
*/ */
// AVR LibC Includes // AVR LibC Includes
#include "WConstants.h" #include "WConstants.h"
#include "AP_RangeFinder_SharpGP2Y.h" #include "AP_RangeFinder_SharpGP2Y.h"
// Constructor ////////////////////////////////////////////////////////////// // Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter) :
ModeFilter *filter) :
RangeFinder(source, filter) RangeFinder(source, filter)
{ {
max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE; max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE; min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////

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libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
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#ifndef AP_RangeFinder_SharpGP2Y_H #ifndef AP_RangeFinder_SharpGP2Y_H
#define AP_RangeFinder_SharpGP2Y_H #define AP_RangeFinder_SharpGP2Y_H
#include "RangeFinder.h" #include "RangeFinder.h"
#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20 #define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150 #define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
class AP_RangeFinder_SharpGP2Y : public RangeFinder class AP_RangeFinder_SharpGP2Y : public RangeFinder
{ {
public: public:
AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter); AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter);
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 int convert_raw_to_distance(int _raw_value) {
if( _raw_value == 0 )
}; return max_distance;
#endif else
return 14500/_raw_value;
} // read value from analog port and return distance in cm
};
#endif

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libraries/AP_RangeFinder/RangeFinder.cpp
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/* /*
AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
infrared proximity sensor infrared proximity sensor
Code by Jose Julio and Randy Mackay. DIYDrones.com Code by Jose Julio and Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. version 2.1 of the License, or (at your option) any later version.
This has the basic functions that all RangeFinders need implemented This has the basic functions that all RangeFinders need implemented
*/ */
// AVR LibC Includes // AVR LibC Includes
#include "WConstants.h" #include "WConstants.h"
#include "RangeFinder.h" #include "RangeFinder.h"
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void RangeFinder::set_orientation(int x, int y, int z) void RangeFinder::set_orientation(int x, int y, int z)
{ {
orientation_x = x; orientation_x = x;
orientation_y = y; orientation_y = y;
orientation_z = z; orientation_z = z;
} }
// Read Sensor data - only the raw_value is filled in by this parent class // Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read() int RangeFinder::read()
{ {
int temp_dist; int temp_dist;
raw_value = _analog_source->read(); raw_value = _analog_source->read();
// 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(raw_value);
// ensure distance is within min and max
// ensure distance is within min and max temp_dist = constrain(temp_dist, min_distance, max_distance);
temp_dist = constrain(temp_dist, min_distance, max_distance);
distance = _mode_filter->get_filtered_with_sample(temp_dist);
distance = _mode_filter->get_filtered_with_sample(temp_dist); return distance;
return distance; }
}

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libraries/AP_RangeFinder/RangeFinder.h
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#ifndef RangeFinder_h #ifndef RangeFinder_h
#define RangeFinder_h #define RangeFinder_h
#include <stdlib.h> #include <stdlib.h>
#include <inttypes.h> #include <inttypes.h>
#include "../AP_AnalogSource/AP_AnalogSource.h" #include "../AP_AnalogSource/AP_AnalogSource.h"
#include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library #include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library
/* /*
#define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0 #define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
#define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0 #define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0 #define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0
#define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0 #define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10 #define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10
#define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10 #define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10
#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0 #define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0 #define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0 #define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0 #define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0
*/ */
class RangeFinder class RangeFinder
{ {
protected: protected:
RangeFinder(AP_AnalogSource * source, ModeFilter *filter) : RangeFinder(AP_AnalogSource * source, ModeFilter *filter) :
_analog_source(source), _analog_source(source),
_mode_filter(filter) _mode_filter(filter) {}
{} public:
public:
int raw_value; // raw value from the sensor
int raw_value; // raw value from the sensor int distance; // distance in cm
int distance; // distance in cm int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor
int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor int orientation_x, orientation_y, orientation_z;
int orientation_x, orientation_y, orientation_z;
virtual void set_orientation(int x, int y, int z);
virtual void set_orientation(int x, int y, int z); 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 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
virtual int read(); // read value from sensor and return distance in cm
AP_AnalogSource *_analog_source; AP_AnalogSource *_analog_source;
ModeFilter *_mode_filter; ModeFilter *_mode_filter;
}; };
#endif #endif

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libraries/AP_RangeFinder/keywords.txt
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RangeFinder KEYWORD1 RangeFinder KEYWORD1
AP_RangeFinder KEYWORD1 AP_RangeFinder KEYWORD1
AP_RangeFinder_SharpGP2Y KEYWORD1 AP_RangeFinder_SharpGP2Y KEYWORD1
AP_RangeFinder_MaxsonarXL KEYWORD1 AP_RangeFinder_MaxsonarXL KEYWORD1
read KEYWORD2 read KEYWORD2
set_orientation KEYWORD2 set_orientation KEYWORD2
convert_raw_to_distance KEYWORD2 convert_raw_to_distance KEYWORD2
raw_value KEYWORD2 raw_value KEYWORD2
distance KEYWORD2 distance KEYWORD2
max_distance KEYWORD2 max_distance KEYWORD2
min_distance KEYWORD2 min_distance KEYWORD2
orientation_x KEYWORD2 orientation_x KEYWORD2
orientation_y KEYWORD2 orientation_y KEYWORD2
orientation_z KEYWORD2 orientation_z KEYWORD2