root / branches / simulator / projects / simulator / Rangefinder_with_noise.c @ 1007
History | View | Annotate | Download (966 Bytes)
| 1 | 1003 | nparis | /**
|
|---|---|---|---|
| 2 | * @file rangefinder_with_noise.c
|
||
| 3 | * @author Colony Project
|
||
| 4 | *
|
||
| 5 | * @brief Returns rangefinder units with noise given distance in cm.
|
||
| 6 | *
|
||
| 7 | * Adds a random, normal amount of noise to a rangefinder
|
||
| 8 | * value given in cm. Returns approximate IR units .
|
||
| 9 | **/
|
||
| 10 | 991 | nparis | |
| 11 | |||
| 12 | 1003 | nparis | double get_rangefinder(double dist_in_cm) |
| 13 | {
|
||
| 14 | double cm, IR, noise;
|
||
| 15 | // gauss_init(1, 0); // Params are chaos scalar and seed
|
||
| 16 | 991 | nparis | |
| 17 | 1003 | nparis | // noise = gauss_noise(void); // Gives ther noise
|
| 18 | 991 | nparis | |
| 19 | 1003 | nparis | cm = dist_in_cm; // Enter value between 7 and 18 for accurate results
|
| 20 | 991 | nparis | |
| 21 | 1003 | nparis | IR = 15.4005 * cm; // 15.4005 is an experimental value |
| 22 | 991 | nparis | |
| 23 | 1003 | nparis | |
| 24 | /* Rangefinder is good for values between 7 and 18.
|
||
| 25 | * 3 < cm < 7 AND 18 < cm < 22 are significantly more erroneous.
|
||
| 26 | * cm < 3 and cm > 22, rangefinder reports -1
|
||
| 27 | */
|
||
| 28 | if ( cm < 3 || cm > 22 ) |
||
| 29 | {
|
||
| 30 | return -1; |
||
| 31 | } |
||
| 32 | else if( cm < 7 || cm > 18 ) |
||
| 33 | {
|
||
| 34 | gauss_init(2, 0); |
||
| 35 | noise = gauss_noise(); |
||
| 36 | return IR + noise;
|
||
| 37 | } |
||
| 38 | else
|
||
| 39 | {
|
||
| 40 | gauss_init(1, 0); |
||
| 41 | noise = gauss_noise(); |
||
| 42 | return IR + noise;
|
||
| 43 | } |
||
| 44 | |||
| 45 | } |