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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_RangeFinder/RangeFinder.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_RangeFinder/RangeFinder.cpp</h1> </div>
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<a href="_range_finder_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-</span>
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<a name="l00002"></a>00002 <span class="comment">/*</span>
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<a name="l00003"></a>00003 <span class="comment"> AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F </span>
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<a name="l00004"></a>00004 <span class="comment"> infrared proximity sensor</span>
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<a name="l00005"></a>00005 <span class="comment"> Code by Jose Julio and Randy Mackay. DIYDrones.com</span>
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<a name="l00006"></a>00006 <span class="comment"></span>
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<a name="l00007"></a>00007 <span class="comment"> This library is free software; you can redistribute it and/or</span>
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<a name="l00008"></a>00008 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00009"></a>00009 <span class="comment"> License as published by the Free Software Foundation; either</span>
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<a name="l00010"></a>00010 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00011"></a>00011 <span class="comment"></span>
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<a name="l00012"></a>00012 <span class="comment"> This has the basic functions that all RangeFinders need implemented</span>
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<a name="l00013"></a>00013 <span class="comment">*/</span>
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<a name="l00014"></a>00014
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<a name="l00015"></a>00015 <span class="comment">// AVR LibC Includes</span>
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<a name="l00016"></a>00016 <span class="preprocessor">#include "WConstants.h"</span>
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<a name="l00017"></a>00017 <span class="preprocessor">#include "<a class="code" href="_range_finder_8h.html">RangeFinder.h</a>"</span>
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<a name="l00018"></a>00018
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<a name="l00019"></a>00019 <span class="comment">// Public Methods //////////////////////////////////////////////////////////////</span>
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<a name="l00020"></a><a class="code" href="class_range_finder.html#a7d6aef1559f205bac93327078c58840a">00020</a> <span class="keywordtype">void</span> <a class="code" href="class_range_finder.html#a7d6aef1559f205bac93327078c58840a">RangeFinder::set_orientation</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z)
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<a name="l00021"></a>00021 {
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<a name="l00022"></a>00022 <a class="code" href="class_range_finder.html#a8cb4faa15ec6ff0e3b36420d56affd22">orientation_x</a> = x;
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<a name="l00023"></a>00023 <a class="code" href="class_range_finder.html#a6541be7eef7c55b9c20b0de4bf5f88a5">orientation_y</a> = y;
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<a name="l00024"></a>00024 <a class="code" href="class_range_finder.html#a559d092b3e3c550b4352d7c0ad3b6e84">orientation_z</a> = z;
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<a name="l00025"></a>00025 }
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<a name="l00026"></a>00026
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<a name="l00027"></a>00027 <span class="comment">// Protected Methods //////////////////////////////////////////////////////////</span>
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<a name="l00028"></a><a class="code" href="class_range_finder.html#a833cdd23c2de887860e50e0180601add">00028</a> <span class="keywordtype">int</span> <a class="code" href="class_range_finder.html#a833cdd23c2de887860e50e0180601add">RangeFinder::filter</a>(<span class="keywordtype">int</span> latestValue)
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<a name="l00029"></a>00029 {
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<a name="l00030"></a>00030 <span class="keywordtype">int</span> i;
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<a name="l00031"></a>00031 <span class="keywordtype">int</span> total = 0;
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<a name="l00032"></a>00032 <a class="code" href="class_range_finder.html#ab23a1a69f5b96fd791491f845ad1bfdb">_history_ptr</a> = (<a class="code" href="class_range_finder.html#ab23a1a69f5b96fd791491f845ad1bfdb">_history_ptr</a> + 1) % <a class="code" href="_range_finder_8h.html#a1147ca7cf8e4c7fffd466f82bc899234">AP_RANGEFINDER_NUM_AVERAGES</a>;
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<a name="l00033"></a>00033 <a class="code" href="class_range_finder.html#a4f45693be996b3395f063a4624b853b4">_history</a>[<a class="code" href="class_range_finder.html#ab23a1a69f5b96fd791491f845ad1bfdb">_history_ptr</a>] = latestValue;
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<a name="l00034"></a>00034 <span class="keywordflow">for</span>(i=0; i<AP_RANGEFINDER_NUM_AVERAGES; i++ )
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<a name="l00035"></a>00035 total += <a class="code" href="class_range_finder.html#a4f45693be996b3395f063a4624b853b4">_history</a>[i];
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<a name="l00036"></a>00036 <span class="keywordflow">return</span> total / AP_RANGEFINDER_NUM_AVERAGES;
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<a name="l00037"></a>00037 }
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</pre></div></div>
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