Revision 8:69bdf20cb525, committed 2013-04-04

Comitter:

twighk

Date:

Thu Apr 04 19:37:05 2013 +0000

Parent:

5:56a5fdd373c9

Child:

9:960410a01e6b

Commit message:

CakeSensor, may need recalibration for cake;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/CakeSensor/CakeSensor.h	Thu Apr 04 19:37:05 2013 +0000
@@ -0,0 +1,20 @@
+
+// Eurobot13 CakeSensor.h
+
+#include "mbed.h"
+
+class CakeSensor{
+    private:
+    AnalogIn ain;
+    
+    public:
+    CakeSensor(PinName analoginpin) : ain(analoginpin){}
+    
+    float Distance(){return ain;}
+    
+    float Distanceincm(){
+        float d = 5.5/(Distance()-0.13);
+        d = (d < 6 || d > 30)? -1:d;
+        return d;
+    }
+};

--- a/main.cpp	Thu Apr 04 14:44:14 2013 +0000
+++ b/main.cpp	Thu Apr 04 19:37:05 2013 +0000
@@ -1,4 +1,4 @@
-#pragma Otime // Compiler Optimisations
+//#pragma Otime // Compiler Optimisations
 
 // Eurobot13 main.cpp
 
@@ -11,6 +11,7 @@
 #include "Sensors/Colour/Colour.h"
 #include "Sensors/Colour/Led.h"
 #include "Sensors/Colour/Phototransistor.h"
+#include "Sensors/CakeSensor/CakeSensor.h"
 
 
 
@@ -25,6 +26,7 @@
 void phototransistortest();
 void ledphototransistortest();
 void colourtest();
+void cakesensortest();
 
 int main() {
     
@@ -33,7 +35,7 @@
  *****************/
     //motortest();
     //encodertest();
-    motorencodetest();
+    //motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
     //armtest();
@@ -42,6 +44,18 @@
     //phototransistortest();
     //ledphototransistortest();
     //colourtest(); // Red SnR too low
+    cakesensortest();
+}
+
+void cakesensortest(){
+    wait(1);
+    pc.printf("cakesensortest");
+    
+    CakeSensor cs(p20);
+    while(true){
+        wait(0.1);
+        pc.printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
+        }
 }
 
 void colourtest(){