ardupilot/libraries/AP_RangeFinder/RangeFinder.h

44 lines
1.6 KiB
C++

#ifndef RangeFinder_h
#define RangeFinder_h
#include <stdlib.h>
#include <inttypes.h>
#include "../AP_AnalogSource/AP_AnalogSource.h"
#include "../Filter/Filter.h" // Filter library
/*
#define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
#define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0
#define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10
#define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10
#define AP_RANGEFINDER_ORIENTATION_FRONT_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_FRONT_LEFT 5, 5, 0
*/
class RangeFinder
{
protected:
RangeFinder(AP_AnalogSource * source, FilterInt16 *filter) :
_analog_source(source),
_mode_filter(filter) {}
public:
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
int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
int orientation_x, orientation_y, orientation_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 read(); // read value from sensor and return distance in cm
AP_AnalogSource *_analog_source;
FilterInt16 *_mode_filter;
};
#endif