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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file rangefinder.h
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 * @brief Contains rangefinder declarations and functions
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 * 
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 * Contains functions and definitions for the use of
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 * IR rangefinders.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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#ifndef _RANGEFINDER_H_
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#define _RANGEFINDER_H_
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/**
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 * @addtogroup rangefinder
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 * @{
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 **/
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/** @brief IR Rangefinder 1 **/
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#define IR1 6
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/** @brief IR Rangefinder 2 **/
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#define IR2 5
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/** @brief IR Rangefinder 3 **/
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#define IR3 4
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/** @brief IR Rangefinder 4 **/
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#define IR4 3
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/** @brief IR Rangefinder 5 **/
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#define IR5 2
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/** @brief smallest meaningful rangefinder reading (logarithmic scale) **/
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#define MIN_IR_ADC8 27
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/** @brief largest meaningful rangefinder reading (logarithmic scale) **/
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#define MAX_IR_ADC8 98
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/** @brief smallest meaningful rangefinder reading (linear scale) **/
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#define MIN_IR_LINEAR 78
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/** @brief largest meaningful rangefinder reading (linear scale) **/
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#define MAX_IR_LINEAR 327
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/** @brief Initialize the rangefinders **/
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void range_init(void);
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/** @brief Initialize the rangefinders with option to use filtering **/
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void range_init_filter(int filter);
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/** @brief Read the distance from a rangefinder **/
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int range_read_distance(int range_id);
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/** @brief Convert logarithmic-scale distance readings to a linear scale **/
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int linearize_distance(int value);
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/** @brief Task that reads rangefinders and sends the values to the filter **/
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void butter_task(void);
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/** @brief Initialize the butterworth filter **/
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void butter_init(void);
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/** @brief Puts a raw rangefinder value through the Butterworth filter **/
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void butter_filter(int range_id, int16_t val);
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/** @brief Returns the most recent filtered reading of the rangefinder **/
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int range_read_filtered_distance(int range_id);
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/** @} **/ //end addtogroup
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#endif
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