#include <analog_distance_sensor.hpp>

Inheritance diagram for tap::sensors::AnalogDistanceSensor:

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Collaboration diagram for tap::sensors::AnalogDistanceSensor:

Public Member Functions
	AnalogDistanceSensor (Drivers *drivers, float minDistance, float maxDistance, float m, float b, float offset, gpio::Analog::Pin pin)

float	read () override

bool	validReading () const override

Public Member Functions inherited from tap::sensors::DistanceSensor
	DistanceSensor (float minDistance, float maxDistance)

virtual	~DistanceSensor ()=default

virtual void	init ()=0

float	getMinDistance () const

float	getMaxDistance () const

float	getDistance () const

Additional Inherited Members
Protected Attributes inherited from tap::sensors::DistanceSensor
float	distance
	Distance from sensor.

float	minDistance
	Lower boundary for reliable readings.

float	maxDistance
	Upper boundary for reliable readings.

Detailed Description

Basic analog IR Sensor.

The distance conversion can be tweaked depending on the sensor.
Min and max distance are in cm.

See here (https://i.stack.imgur.com/babQg.png) for a graph of what an IR sensor should look like. Datasheets will have specifics for what the distance curve should look like. Thsi class gives a general curve fit that first calculates a linear fit from the raw voltage of the form $ y=mx+b $ and then the output is put into the equation $dist = \frac{1}{linear} + offset$ .

Constructor & Destructor Documentation

◆ AnalogDistanceSensor()

tap::sensors::AnalogDistanceSensor::AnalogDistanceSensor	(	Drivers *	drivers,
		float	minDistance,
		float	maxDistance,
		float	m,
		float	b,
		float	offset,
		gpio::Analog::Pin	pin
	)

Constructor to initialize the analog IR boundary, distance conversion, and analog pin.

Parameters

[in]	minDistance	the sensor's min valid distance
[in]	maxDistance	the sensor's max valid distance
[in]	m	the slope of the linear model that describes the relationship between analog input and distance.
[in]	b	the y intercept of the linear model that describes the relationship between analog input and distance.
[in]	offset	the offset in the non-linear portion of the model.
[in]	pin	the analog pin that the sensor is connected to.

Member Function Documentation

◆ read()

float tap::sensors::AnalogDistanceSensor::read ( )

overridevirtual

Reads the sensor, updates the current distance, and returns this reading.

Returns: the updated value. May or may not be valid. If it is not valid, -1 is returned.

Implements tap::sensors::DistanceSensor.

◆ validReading()

bool tap::sensors::AnalogDistanceSensor::validReading ( ) const

overridevirtual

Checks if current reading is within bounds.

Returns: true if the reading is within the min and max distance, exclusive. Returns false otherwise.