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uncrustify libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp

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uncrustify 2012-08-16 23:21:04 -07:00 committed by Pat Hickey
parent cf00a21e28
commit da7d9a36b4
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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
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else
#include "WConstants.h" #include "WConstants.h"
#endif #endif
#include "AP_RangeFinder_MaxsonarXL.h" #include "AP_RangeFinder_MaxsonarXL.h"
// Constructor ////////////////////////////////////////////////////////////// // Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter): AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *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;
case AP_RANGEFINDER_MAXSONARHRLV: case AP_RANGEFINDER_MAXSONARHRLV:
type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER; type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE; min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE; max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
break; break;
} }
_scaler = type_scaler * adc_refence_voltage / 5.0; _scaler = type_scaler * adc_refence_voltage / 5.0;
return _scaler; return _scaler;
} }