ardupilot/libraries/AP_RangeFinder/RangeFinder.cpp

50 lines
1.3 KiB
C++

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