mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.9 KiB
C++
75 lines
2.9 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_MaxsonarXL.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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* Sparkfun URL: http://www.sparkfun.com/products/9491
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* datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
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*
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* Sensor should be connected to one of the analog ports
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*
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* Variables:
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* int raw_value : raw value from the sensor
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* int distance : distance in cm
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* int max_distance : maximum measurable distance (in cm)
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* int min_distance : minimum measurable distance (in cm)
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*
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* Methods:
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* read() : read value from analog port and returns the distance (in cm)
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*
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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 "AP_RangeFinder_MaxsonarXL.h"
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// Constructor //////////////////////////////////////////////////////////////
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AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter) :
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RangeFinder(source, filter),
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_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
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{
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max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
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min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
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{
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float type_scaler = 1.0;
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switch(sonar_type) {
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case AP_RANGEFINDER_MAXSONARXL:
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type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
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min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
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max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
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break;
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case AP_RANGEFINDER_MAXSONARLV:
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type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
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min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
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max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
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break;
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case AP_RANGEFINDER_MAXSONARXLL:
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type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
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min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
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max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
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break;
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case AP_RANGEFINDER_MAXSONARHRLV:
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type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
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min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
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max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
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break;
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}
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_scaler = type_scaler * adc_refence_voltage / 5.0;
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return _scaler;
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}
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