ir Class Reference

#include <ir.hpp>

Collaboration diagram for ir:

Classes
struct	calibration_data

Public Member Functions
	ir ()
	ir (uint8_t ir_adc_sequence_step, adc *ir_assoc_adc, int32_t ir_a=240333, int32_t ir_b=-314, int32_t ir_k=0)
void	calibrate (int32_t a, int32_t b, int32_t k)
void	sample (void)
int32_t	average ()
int32_t	distance ()

Static Public Attributes
static const int32_t	max_distance = 500
static const int32_t	min_distance = 0

Private Types
typedef struct ir::calibration_data	calibration_data

Private Attributes
calibration_data	calibration
circularbuffer< int16_t, 32 >	buf
uint8_t	adc_sequence_step
adc *	assoc_adc
int32_t	cached_average

Detailed Description

Definition at line 15 of file ir.hpp.

Member Typedef Documentation

typedef struct ir::calibration_data ir::calibration_data

private

Constructor & Destructor Documentation

ir::ir

(

)

Definition at line 4 of file ir.cpp.

{}

ir::ir	(	uint8_t	ir_adc_sequence_step,
		adc *	ir_assoc_adc,
		int32_t	ir_a = 240333,
		int32_t	ir_b = -314,
		int32_t	ir_k = 0
	)

Definition at line 6 of file ir.cpp.

References adc_sequence_step, assoc_adc, buf, and calibrate().

                                                 {

    buf = circularbuffer<IR_BUFFER_TYPE, IR_BUFFER_LENGTH>();
    adc_sequence_step = ir_adc_sequence_step;
    assoc_adc = ir_assoc_adc;
    calibrate(ir_a, ir_b, ir_k);
}

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Member Function Documentation

int32_t ir::average

(

)

Definition at line 27 of file ir.cpp.

References buf, buffer< T, N >::buf, and buffer< T, N >::len.

Referenced by distance().

                    {

    int32_t i, value;
    value = 0;
    for (i=0; i<buf.len; ++i) {
        value += buf.buf[i];
    }
    value /= buf.len;
    return value;
}

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void ir::calibrate	(	int32_t	a,
		int32_t	b,
		int32_t	k
	)

Definition at line 15 of file ir.cpp.

References ir::calibration_data::a, ir::calibration_data::b, calibration, and ir::calibration_data::k.

Referenced by ir().

                                                  {

    calibration.a = a;
    calibration.b = b;
    calibration.k = k;
}

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int32_t ir::distance

(

)

Converts the values of the IR distance sensor to centimeters

Returns

0 if the conversion did not succeed, data otherwise

Definition at line 40 of file ir.cpp.

References ir::calibration_data::a, average(), ir::calibration_data::b, cached_average, calibration, clamp(), ir::calibration_data::k, max_distance, and min_distance.

Referenced by can_transmitter().

                     {

    cached_average = average();

    if ((cached_average + calibration.b) <= 0) {
        return max_distance;
    }

    return clamp(calibration.a / (cached_average + calibration.b) - calibration.k,
                 min_distance, max_distance);
}

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void ir::sample

(

void

)

Definition at line 22 of file ir.cpp.

References adc_sequence_step, circularbuffer< T, N >::add(), assoc_adc, buf, and adc::get_sample().

Referenced by ADC0Seq0_Handler().

                {
    buf.add(assoc_adc->get_sample(adc_sequence_step));
    /* sem += adc_producer_index / (signal_length-1); */
}

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Member Data Documentation

uint8_t ir::adc_sequence_step

private

Definition at line 52 of file ir.hpp.

Referenced by ir(), and sample().

adc* ir::assoc_adc

private

Definition at line 53 of file ir.hpp.

Referenced by ir(), and sample().

circularbuffer< int16_t , 32 > ir::buf

private

Definition at line 51 of file ir.hpp.

Referenced by average(), ir(), and sample().

int32_t ir::cached_average

private

Definition at line 55 of file ir.hpp.

Referenced by distance().

calibration_data ir::calibration

private

Definition at line 50 of file ir.hpp.

Referenced by calibrate(), and distance().

const int32_t ir::max_distance = 500

static

Definition at line 66 of file ir.hpp.

Referenced by distance().

const int32_t ir::min_distance = 0

static

Definition at line 67 of file ir.hpp.

Referenced by distance().

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The documentation for this class was generated from the following files:

• board-progs/autonomous-racer/common/ir.hpp
• board-progs/autonomous-racer/common/ir.cpp