Rangefinder

Functions for using the IR rangefinders. More...

Defines
#define	IR1   6
	IR Rangefinder 1.
#define	IR2   5
	IR Rangefinder 2.
#define	IR3   4
	IR Rangefinder 3.
#define	IR4   3
	IR Rangefinder 4.
#define	IR5   2
	IR Rangefinder 5.
#define	MIN_IR_ADC8   20
	smallest meaningful rangefinder reading (logarithmic scale)
#define	MAX_IR_ADC8   133
	largest meaningful rangefinder reading (logarithmic scale)
Functions
int	range_init (void)
	Initialize the rangefinders.
int	range_read_distance (int range_id)
	Read the distance from a rangefinder.
int	linearize_distance (int value)
	Convert logarithmic-scale distance readings to a linear scale.

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Detailed Description

Functions for using the IR rangefinders.

Functions for using the IR rangefinders.

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Function Documentation

int linearize_distance

(

int

value

)

Convert logarithmic-scale distance readings to a linear scale.

Transforms distance readings from logarithmic to linear scale. This probably isn't the function you are looking for.

Note: pgm_read_word() needs additional testing

Parameters:

value

the 8-bit analog value from rangefinder

Returns:

linearized distance reading from rangefinder (integer in [101,800])

int range_init

(

void

)

Initialize the rangefinders.

Initializes the rangefinders. This must be called before range_read_distance.

Returns:

0 if init succesfull, an error code otherwise

See also:

range_read_distance

int range_read_distance

(

int

range_id

)

Read the distance from a rangefinder.

Reads the distance measured by one of the rangefinders. This distance is in arbitrary units.

Parameters:

range_id

the rangefinder to use. This should be one of the constants IR1 - IR5.

Returns:

the distance measured by the rangefinder, or an error code

See also:

range_init