Colony

#ifndef _RANGEFINDER_H_

#define _RANGEFINDER_H_

#define RANGE_IN0 PIN_C0

#define IR1 6

#define IR2 5

#define IR3 4

#define IR4 3

#define IR5 2

/* Nasty IR approximation table

  I'm using this for the heck of it.  We can do whatever.

  Note the minimum value is .4V (20), and the maximum is 2.6V (133).

  Gives distance in mm.

  excel formula(valid for inputs 20-133):  ROUND(2353.6*(E2^(-1.1146))*10,0)

  This is only valid for the GP2D12, with objects directly ahead and more than

  10cm from the detector.  See the datasheet for more information.

*/

#define MIN_IR_ADC8 20

#define MAX_IR_ADC8 133

static int IR_dist_conversion[114] = {

800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447

,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294

,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217

,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171

,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140

,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119

,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103

,102,101

};

#define RANGE_CTRL PIN_C1

//old range_crtl

//#define RANGE_CTRL PIN_A7

#define THRESHOLD1 114

#define THRESHOLD2 110

#define THRESHOLD3 101

#define THRESHOLD4 85

#define OFFSET1 65

#define OFFSET2 63

#define OFFSET3 60

#define GAIN1 1525

#define GAIN2 1520

#define GAIN3 1525

#define CONTINUITY_FIX 39

#define MAX_DIST 61

#define MIN_DIST 8

void range_init(void);

int read_distance(int range_id);

int linearize_distance(int reading);

int log_distance(int distance);

#endif