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Revision 241

Added by Brian Coltin over 16 years ago

Updated libdragonfly documentation.

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rangefinder.c
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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.c


  		




  
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 * @brief Rangefinders


  		




  
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 *


  		




  
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 * Implementation of functions for rangefinder use.


  		




  
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 *


  		




  
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 * @author Colony Project, CMU Robotics Club


  		




  
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 **/


  		




  
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/*


  		




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Authors: James Kong and Greg Tress


  		




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NOTE:


  		




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The Sharp GD2D02 returns values on a decreasing logrithmic scale.


  		




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So higher values correspond to closer distances.  Use linearize_distance to convert to normal centimeter scale.


  		




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Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm.


  		




  
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So higher values correspond to closer distances.  Use linearize_distance to convert to normal centimeter scale.  Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm.


  		




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At this point, we are only reading from one rangefinder [RANGE_IN0].


  		




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*/


  		




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