root / trunk / code / projects / libdragonfly / rangefinder.c @ 241
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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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Last Modified: 4/30/06 by James
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-Started log_distance conversion function !!!NOT COMPLETE!!!
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-Cleaning up comments
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-----------------
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rangefinder.c
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Using Sharp GP2D02 IR Rangefinder
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Vin is the input to the rangefinder, designated RANGE_CTRL.
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Vout is the output from the rangefinder, designated RANGE_IN# where # is the rangefinder you are reading from
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Expected Initial Conditions:
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Vin is high and Vout should read high.
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Usage:
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1.) Set Vin low. Vout should read low.
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2.) Wait for high on Vout.
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3.) Begin clocking Vin and reading 8 bits from Vout (MSB first).
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4.) Set Vin high for 2ms or more to turn off rangefinder
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*/
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#include "dragonfly_lib.h" |
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#include "rangefinder.h" |
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/*
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read_distance returns the 8-bit reading from the rangefinder
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parameters:
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range_id - dio pin set as the rangefinder Vout [i.e. RANGE_IN0]
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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. 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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// constants
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/* Nasty IR approximation table
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I'm using this for the heck of it. We can do whatever.
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Note the minimum value is .4V (20), and the maximum is 2.6V (133).
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Gives distance in mm.
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excel formula(valid for inputs 20-133): ROUND(2353.6*(E2^(-1.1146))*10,0)
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This is only valid for the GP2D12, with objects directly ahead and more than
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10cm from the detector. See the datasheet for more information.
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*/
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#define MIN_IR_ADC8 20 |
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#define MAX_IR_ADC8 133 |
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static int IR_dist_conversion[114] = { |
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800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447 |
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,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294 |
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,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217 |
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,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171 |
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,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140 |
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,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119 |
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,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103 |
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,102,101 |
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}; |
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int linearize_distance(int value); |
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/**
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* @defgroup rangefinder Rangefinder
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* @brief Functions for using the IR rangefinders
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*
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* Functions for using the IR rangefinders.
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*
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* @{
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**/
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/**
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* Initializes the rangefinders. This must be called before
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* range_read_distance.
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*
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* @see range_read_distance
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**/
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void range_init(void){ |
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digital_output(_PIN_B4,0);
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} |
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/**
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* Reads the distance measured by one of the rangefinders.
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* This distance is in arbitrary units.
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*
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* @param range_id the rangefinder to use. This should be one
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* of the constants IR1 - IR5.
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*
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* @return the distance measured by the rangefinder
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*
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* @see range_init
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**/
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int range_read_distance (int range_id) { |
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return linearize_distance(analog8(range_id));
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} |
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/** @} **/ //end defgroup |
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int linearize_distance(int value) |
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{ |
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if(value < MIN_IR_ADC8)
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{ |
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return -1; |
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} |
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else if(value > MAX_IR_ADC8) |
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{ |
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return -1; |
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} |
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else
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{ |
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return IR_dist_conversion[value - MIN_IR_ADC8];
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} |
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} |
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