mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
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/*
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* AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
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* infrared proximity sensor
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* Code by Jose Julio and Randy Mackay. DIYDrones.com
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This has the basic functions that all RangeFinders need implemented
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*/
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// AVR LibC Includes
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WConstants.h"
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#endif
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#include "RangeFinder.h"
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// Public Methods //////////////////////////////////////////////////////////////
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void RangeFinder::set_orientation(int x, int y, int z)
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{
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orientation_x = x;
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orientation_y = y;
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orientation_z = z;
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}
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// Read Sensor data - only the raw_value is filled in by this parent class
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int RangeFinder::read()
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{
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int temp_dist;
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raw_value = _analog_source->read();
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// convert analog value to distance in cm (using child implementation most likely)
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temp_dist = convert_raw_to_distance(raw_value);
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// ensure distance is within min and max
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temp_dist = constrain(temp_dist, min_distance, max_distance);
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distance = _mode_filter->apply(temp_dist);
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return distance;
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}
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